Universität Bonn: Autonomous Intelligent Systems Group   Computer Science Institute VI: Autonomous Intelligent Systems

Project STAMINA: Sustainable and Reliable Robotics for Part Handling in Manufacturing Automation


STAMINA logo
This project is funded by the FP7 ICT GA 610917.

Our partners are:

Summary

The goal of STAMINA is to develop a fleet of autonomous and mobile industrial robots for jointly solving three logistic and handling tasks: de-palletizing, bin-picking, and kitting. The main task of our group is the grasping of parts from transport containers. This includes the detection and pose estimation of parts as well as the grasp and arm motion planning for a robot manipulator.

Depalettizing demonstrator.

Publications:

Dirk Holz and Sven Behnke:
Fast Edge-Based Detection and Localization of Transport Boxes and Pallets in RGB-D Images for Mobile Robot Bin Picking
Accepted for 47th International Symposium on Robotics (ISR), Munich, Germany, to appear June 2016.

Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B. Rusu, and Sven Behnke:
Registration with the Point Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler, and Sven Behnke:
Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco Rovida,Mikkel Rath Pedersen, Volker Krüger, and Sven Behnke:
A Skill-Based System for Object Perception and Manipulation for Automating Kitting Tasks
In Proceedings of 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxemburg, September 2015.

Dirk Holz and Sven Behnke:
Approximate Surface Reconstruction and Registration for RGB-D SLAM
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.


Publications of previous project ActReMa

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Active Recognition and Manipulation for Mobile Robot Bin Picking
In: Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project, vo. 94 of Springer Tracts in Advanced Robotics (STAR), pp. 133-153, 2014.

Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven Behnke, and Reinhard Klein:
Combining Contour and Shape Primitives for Object Detection and Pose Estimation of Prefabricated Parts
In Proceedings of IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, September 2013.

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Joerg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with an Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, May 2013.

Matthias Nieuwenhuisen, Jörg Stückler, Alexander Berner, Reinhard Klein, and Sven Behnke:
Shape-Primitive Based Object Recognition and Grasping
In Proceedings of 7th German Conference on Robotics (ROBOTIK), Munich, May 2012.

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Sven Behnke, Alexander Berner, and Reinhard Klein:
Active Recognition and Manipulation of Objects Based on Shape Primitives
Poster at 5th International Conference on Cognitive Systems (CogSys) Vienna, February 2012.


Multimedia report of previous project ActReMa


Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI