Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components
Manipulators performing pick-and-place tasks with objects of complex shapes must consider not only how to grasp the objects but also how to maneuver them out of a bin. In this paper, we explore the industrial challenge of picking hook-shaped components, whose interlocking nature often leads to faile...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/9/4944 |
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| author | Tomas Merva Peter Jan Sincak Robert Rakay Martin Varga Michal Kelemen Ivan Virgala |
| author_facet | Tomas Merva Peter Jan Sincak Robert Rakay Martin Varga Michal Kelemen Ivan Virgala |
| author_sort | Tomas Merva |
| collection | DOAJ |
| description | Manipulators performing pick-and-place tasks with objects of complex shapes must consider not only how to grasp the objects but also how to maneuver them out of a bin. In this paper, we explore the industrial challenge of picking hook-shaped components, whose interlocking nature often leads to failed attempts at safely retrieving a single component at a time. Rather than explicitly modeling contact-rich interactions within optimization-based motion planners, we tackle this challenge by leveraging recent advances in sampling-based optimization and parallelizable physics simulators to predict the impact of motion on the separating subgoal, aimed at resolving interlocking. The proposed framework generates candidate trajectories initialized from a user-provided demonstration, which are then simulated and evaluated in a physics simulator to optimize robot trajectories in joint space while considering the entire planning horizon. We validate our approach through real-world experiments on a manipulator, demonstrating improved success rates in terms of separating interlocked objects compared to the industrial baseline. |
| format | Article |
| id | doaj-art-3d307ebfc17d4c71a67abfd01424c7a9 |
| institution | OA Journals |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-3d307ebfc17d4c71a67abfd01424c7a92025-08-20T01:49:14ZengMDPI AGApplied Sciences2076-34172025-04-01159494410.3390/app15094944Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped ComponentsTomas Merva0Peter Jan Sincak1Robert Rakay2Martin Varga3Michal Kelemen4Ivan Virgala5Faculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaFaculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaFaculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaFaculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaFaculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaFaculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, SlovakiaManipulators performing pick-and-place tasks with objects of complex shapes must consider not only how to grasp the objects but also how to maneuver them out of a bin. In this paper, we explore the industrial challenge of picking hook-shaped components, whose interlocking nature often leads to failed attempts at safely retrieving a single component at a time. Rather than explicitly modeling contact-rich interactions within optimization-based motion planners, we tackle this challenge by leveraging recent advances in sampling-based optimization and parallelizable physics simulators to predict the impact of motion on the separating subgoal, aimed at resolving interlocking. The proposed framework generates candidate trajectories initialized from a user-provided demonstration, which are then simulated and evaluated in a physics simulator to optimize robot trajectories in joint space while considering the entire planning horizon. We validate our approach through real-world experiments on a manipulator, demonstrating improved success rates in terms of separating interlocked objects compared to the industrial baseline.https://www.mdpi.com/2076-3417/15/9/4944bin pickingmanipulationmotion planningphysics simulations |
| spellingShingle | Tomas Merva Peter Jan Sincak Robert Rakay Martin Varga Michal Kelemen Ivan Virgala Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components Applied Sciences bin picking manipulation motion planning physics simulations |
| title | Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components |
| title_full | Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components |
| title_fullStr | Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components |
| title_full_unstemmed | Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components |
| title_short | Simulation-Guided Path Optimization for Resolving Interlocked Hook-Shaped Components |
| title_sort | simulation guided path optimization for resolving interlocked hook shaped components |
| topic | bin picking manipulation motion planning physics simulations |
| url | https://www.mdpi.com/2076-3417/15/9/4944 |
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