A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production
Robotic manipulation and automation have gained increasing popularity in the food manufacturing industry due to their potential benefits for enhancing hygiene standards, enforcing quality consistency, promoting product traceability, and reducing labor costs. As a majority of robotic manipulation, th...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/174610 |
| _version_ | 1811691078723567616 |
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| author | Zhu, Guoniu Zeng, Yadan Teoh, Yee Seng Toh, Elvin Wong, Choon Yue Chen, I-Ming |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Zhu, Guoniu Zeng, Yadan Teoh, Yee Seng Toh, Elvin Wong, Choon Yue Chen, I-Ming |
| author_sort | Zhu, Guoniu |
| collection | NTU |
| description | Robotic manipulation and automation have gained increasing popularity in the food manufacturing industry due to their potential benefits for enhancing hygiene standards, enforcing quality consistency, promoting product traceability, and reducing labor costs. As a majority of robotic manipulation, the pick-and-place operation plays a crucial role in food handling applications. However, the reproducibility and comparability of results have put a dilemma that hinders further advancement in this field, especially for those unstructured scenarios. To tackle such thorny issues, this article proposes a benchmarking framework for system-level evaluation of robotic-assisted food handling under the line production environment. A typical food handling scenario, including a pick-and-place operation and a packing operation, is presented as the benchmark task, where food items are supposed to be picked from the tray and placed in the serving dish. A robotic system incorporating a high-speed Delta robot, vision system, conveyor belt, and end-effector is developed as the testbed for the benchmarking implementation. Finally, five variants of the robotic system with different end-effectors are evaluated using the proposed benchmarking framework. Comparative studies illustrate the performance of various benchmarked systems and validate the applicability of the benchmarking strategy for the food handling context. Videos of our experiments are available at https://youtu.be/SBAOoswnjWM. |
| first_indexed | 2024-10-01T06:14:11Z |
| format | Journal Article |
| id | ntu-10356/174610 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:14:11Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1746102024-04-03T07:40:39Z A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production Zhu, Guoniu Zeng, Yadan Teoh, Yee Seng Toh, Elvin Wong, Choon Yue Chen, I-Ming School of Mechanical and Aerospace Engineering Robotics Research Centre Engineering End-effector food handling Robotic manipulation and automation have gained increasing popularity in the food manufacturing industry due to their potential benefits for enhancing hygiene standards, enforcing quality consistency, promoting product traceability, and reducing labor costs. As a majority of robotic manipulation, the pick-and-place operation plays a crucial role in food handling applications. However, the reproducibility and comparability of results have put a dilemma that hinders further advancement in this field, especially for those unstructured scenarios. To tackle such thorny issues, this article proposes a benchmarking framework for system-level evaluation of robotic-assisted food handling under the line production environment. A typical food handling scenario, including a pick-and-place operation and a packing operation, is presented as the benchmark task, where food items are supposed to be picked from the tray and placed in the serving dish. A robotic system incorporating a high-speed Delta robot, vision system, conveyor belt, and end-effector is developed as the testbed for the benchmarking implementation. Finally, five variants of the robotic system with different end-effectors are evaluated using the proposed benchmarking framework. Comparative studies illustrate the performance of various benchmarked systems and validate the applicability of the benchmarking strategy for the food handling context. Videos of our experiments are available at https://youtu.be/SBAOoswnjWM. Agency for Science, Technology and Research (A*STAR) This work was supported by A*STAR under its “RIE2025 IAF-PP Advanced ROS2-native Platform Technologies for Cross sectorial Robotics Adoption (M21K1a0104)” programme and A*STAR SERC under National Robotics Programme-Robotics Enabling Capabilities and Technologies under Grant 1822500053. 2024-04-03T07:40:39Z 2024-04-03T07:40:39Z 2023 Journal Article Zhu, G., Zeng, Y., Teoh, Y. S., Toh, E., Wong, C. Y. & Chen, I. (2023). A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production. IEEE/ASME Transactions On Mechatronics, 28(3), 1778-1788. https://dx.doi.org/10.1109/TMECH.2022.3227038 1083-4435 https://hdl.handle.net/10356/174610 10.1109/TMECH.2022.3227038 3 28 1778 1788 en M21K1a0104 1822500053 IEEE/ASME Transactions on Mechatronics © 2022 IEEE. All rights reserved. |
| spellingShingle | Engineering End-effector food handling Zhu, Guoniu Zeng, Yadan Teoh, Yee Seng Toh, Elvin Wong, Choon Yue Chen, I-Ming A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production |
| title | A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production |
| title_full | A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production |
| title_fullStr | A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production |
| title_full_unstemmed | A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production |
| title_short | A bin-picking benchmark for systematic evaluation of robotic-assisted food handling for line production |
| title_sort | bin picking benchmark for systematic evaluation of robotic assisted food handling for line production |
| topic | Engineering End-effector food handling |
| url | https://hdl.handle.net/10356/174610 |
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