IEEE Robotics & Automation Magazine - September 2021 - 62

manipulation. In this case, since a horizontal rotation is
used, the hand lifts the bucket to create space for the velvet
tray. Therefore, the transition toward the next phase is triggered
by the hand reaching the target Cartesian pose, and
no force information is required. Note that, to increase the
robustness of the system, the force measurements in this
phase could detect the loss of contact between the hand and
the object and be used to abort the current picking action.
Regarding the other phases, contact information is again
used to trigger the transition from (D) to (E), where the
velvet tray is placed under the object in contact with it, and
(E) to (F), where the hand is approaching the object from
the top to perform a collaborative sliding.
As described previously, the example shows the effectiveness
of the reactive approach even in case of an imprecise
knowledge of the pose, which requires the execution of
the redundant and time-consuming lateral approach [phase
(A)]. Depending on the level of uncertainties on the pose
estimated by the perception system, such redundant steps
could be unnecessary.
Experimental Validation
In this section, we report the preliminary experimental validation
of WRAPP-up. The picking capabilities of the system
are demonstrated on a representative set of objects
from the ones in Figure 2. Indeed, the objects used for the
tests allowed us to cover the two main shapes we identified
to be relevant for logistics, i.e., cuboids and cylinders. Furthermore,
they allowed us to test all four of the motion
primitives we have presented and validate the platform's
performance in different picking scenarios.
Figure 8(a) depicts the strategy used to manipulate
objects that have a characteristic cylindrical shape, better
suited for a horizontal rotation strategy. With this
approach, the hand is placed in front of the bucket and
grasps its edge, allowing it to lift and tilt it. This movement
permits the velvet tray to be placed beneath it as a support.
Once the tray has been correctly positioned, the hand can
release the object [see, e.g., the last frame of Figure 8(a)],
and the tray can be used to collect and deploy the bucket.
In this case, the hand can be employed to ease the tray
(a)
(b)
Figure 9. The WRAPP-up picking thin boxes. (a) The horizontal rotation primitive. (b) Two rows (eight pieces) of thin boxes being
picked using the horizontal rotation strategy.
62 * IEEE ROBOTICS & AUTOMATION MAGAZINE * SEPTEMBER 2021

IEEE Robotics & Automation Magazine - September 2021

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