An Adaptive Robotic System for Doing Pick and Place Operations with Deformable Objects

Troels Bo Jørgensen*, Sebastian Hoppe Nesgaard Jensen, Henrik Aanæs, Niels Worsøe Hansen, Norbert Krüger

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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This paper presents a robot system for performing pick and place operations with deformable objects. The system uses a structured light scanner to capture a point cloud of the object to be grasped. This point cloud is then analyzed to determine a pick and place action. Finally, the determined action is executed by the robot to solve the task. The robotic placement strategy contains several free parameters, which should be chosen in a context-specific manner. To determine these parameters we rely on simulation-based optimization of the individual use cases. The entire system is tested extensively in real world trials. First, the reliability of the grasp is evaluated for 7 different types of pork cuts. Then the validity of the simulation-based optimization of the placement strategy is evaluated for 2 of the most different pork cuts, to show the generality of the overall approach.

Original languageEnglish
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1
Pages (from-to)81-100
Publication statusPublished - 15 Apr 2019


  • Deformable objects
  • Robotic manipulation
  • Simulation-based optimization
  • Structured light scanner
  • Vision-based meat analysis


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