Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking

Mghames, Sariah, Hanheide, Marc and Ghalamzan Esfahani, Amir (2020) Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Documents
Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking

Request a copy
[img] PDF
IROS20__home_papercept_ras.papercept.net_www_conferences_conferences_IROS20_submissions_1155_FI.pdf - Whole Document
Restricted to Repository staff only until 30 October 2020.

4MB
Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

Robotic technology is increasingly considered the major mean for fruit picking. However, picking fruits in a dense cluster imposes a challenging research question in terms of motion/path planning as conventional planning approaches may not find collision-free movements for the robot to reach-and-pick a ripe fruit within a dense cluster. In such cases, the robot needs to safely push unripe fruits to reach a ripe one. Nonetheless, existing approaches to planning pushing movements in cluttered environments either are computationally expensive or only deal with 2-D cases and are not suitable for fruit picking, where it needs to compute 3- D pushing movements in a short time. In this work, we present a path planning algorithm for pushing occluding fruits to reach-and-pick a ripe one. Our proposed approach, called Interactive Probabilistic Movement Primitives (I-ProMP), is not computationally expensive (its computation time is in the order of 100 milliseconds) and is readily used for 3-D problems. We demonstrate the efficiency of our approach with pushing unripe strawberries in a simulated polytunnel. Our experimental results confirm I-ProMP successfully pushes table top grown strawberries and reaches a ripe one.

Additional Information:© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords:Path Planning, Occlusion, pushable obstacles
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
ID Code:42217
Deposited On:23 Sep 2020 08:44

Repository Staff Only: item control page