Скачать или смотреть Robotic Shelf Replenishment by Combining Non-Prehensile Object Manipulation with Simple Grasping

Authors: Leonidas Koutras, Sotiris Stavridis, Christos Papakonstantinou and Zoe Doulgeri

Accepted for publication in 2025 IEEE-RAS 24th International Conference on Humanoid Robots 30/9 - 02/10 2025 in Seoul Korea

Abstract:
In this work the problem of robotic shelf replenishment is being studied. Such tasks involve a variety of object types and geometries, which should be picked from boxes where they are tightly packed, and placed in shelves in tight formations with the appropriate orientation. We consider a bimanual robotic set up with a parallel finger gripper and a 3D-printed end-effector and propose to combine simple grasping with a set of non-prehensile manipulations to achieve such a replenishment task. This work reports on the details of the implementation of the proposed strategy and on the initial investigation of the feasibility and effectiveness of the proposed solution for a representative set of super-market products, demonstrated in a number of experiments in the lab.