A Closed-Loop Bin Picking System for Entangled Wire Harnesses using Bimanual and Dynamic Manipulation

TL;DR

This paper presents a closed-loop, dual-arm robotic system that uses dynamic manipulation and haptic feedback to effectively disentangle and pick wire harnesses from clutter, achieving over 91% success rate.

Contribution

It introduces a novel closed-loop framework with haptic feedback for dynamic disentangling of wire harnesses in bin picking, improving robustness and generalization.

Findings

Achieved a 91.2% success rate in real-world experiments.

Demonstrated effective handling of various wire harness types.

Validated the system's robustness and adaptability in industrial scenarios.

Abstract

This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement. Our previous work tackled this issue by proposing a quasi-static pulling motion to separate the entangled wire harnesses. However, it still lacks sufficiency and generalization to various shapes and structures. In this paper, we deploy a dual-arm robot that can grasp, extract and disentangle wire harnesses from dense clutter using dynamic manipulation. The robot can swing to dynamically discard the entangled objects and regrasp to adjust the undesirable grasp pose. To improve the robustness and accuracy of the system, we leverage a closed-loop framework that uses haptic feedback to detect entanglement in real-time and flexibly adjust system parameters. Our bin picking system achieves an overall success rate of 91.2% in the real-world experiments using two different types of long wire harnesses. It demonstrates the effectiveness of our system in handling various wire harnesses for industrial bin picking.