ABSTRACT This paper presents a robust bin-picking system utilizing tactile sensors and a vision sensor. The object position and orientation are estimated using a fast template-matching method through the vision sensor. When a robot picks up an object, the tactile sensors detect the success or failure of the grasping, and a force sensor detects the contact with the environment. A weight sensor is also used to judge whether the lifting of the object has been successful. The robust and efficient bin-picking system presented herein is implemented through the integration of different sensors. In particular, the tactile sensors realize rope-shaped object picking that has yet to be made possible with conventional picking systems. The effectiveness of the proposed method was confirmed through grasping experiments and in a competitive event at the World Robot Challenge 2018. GRAPHICAL ABSTRACT

中文翻译：

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使用触觉传感器的鲁棒分拣系统

摘要 本文提出了一种利用触觉传感器和视觉传感器的鲁棒拣选系统。通过视觉传感器使用快速模板匹配方法估计物体的位置和方向。当机器人拿起物体时，触觉传感器检测抓取的成功或失败，力传感器检测与环境的接触。还使用重量传感器来判断物体的提升是否成功。此处介绍的稳健高效的垃圾箱拣选系统是通过集成不同的传感器来实现的。特别是，触觉传感器实现了绳状物体的拾取，这在传统的拾取系统中是不可能实现的。