Conclusions

This book has addressed the challenges of bin picking for entangledEntangled rigid and deformable objects for manufacturing processes. We have proposed unified and robust bin-picking systems that incorporate dexterous manipulation and multi-modal perception, including (1) a topology-based method for generating non-tangle grasp positions, (2) a learned policy by predicting action affordances for flexible picking or separating, (3) an efficient policy using a circle-like trajectory to disentangling wire harnesses, and (4) the deployment of a dual-arm robot using bimanual and dynamic manipulation.