Advanced Robotic System for Efficient Pick-and-Place of Deformable
Poultry in Cluttered Bin: A Comprehensive Evaluation Approach
Abstract
This research paper presents an advanced robotic system designed for
efficient pick-and-place of deformable poultry pieces from cluttered
bins. The system incorporates a novel architecture with seamless
integration of various modules, enabling the robot to handle deformable
poultry with precision. It introduces a comprehensive evaluation
approach to assess the system’s performance, considering perception,
state modeling, planning and control, gripping and manipulation. The
experiments were conducted on two different samples of chicken pieces
with varying weights and shapes, under complex and simple scenarios.
Performance indicators, failure categories, and cycle time were used for
evaluation. The evaluation revealed an overall success rate of 49.4%
for picking and placing chicken pieces, with failure rates of 21.8% for
perception, 30.7% for gripping, and 11% for manipulation modules.
These results highlight areas of improvement, particularly in object
detection, grasp pose estimation in clutter, and gripper designs for
deformable products, to create a robust pick-and-place solution. The
proposed robotic system and evaluation method hold immense potential for
revolutionizing the meat processing industry and other food processing
sectors, making automation more efficient and adaptable to meet the
increasing demand in the food industry.