In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale occlusions combining an online vision-based method and an offline reference template. Then, a reference point generator is introduced to automatically plan the reference poses for the predesigned action primitives. Finally, an action planner integrates these components enabling the execution of high-level behaviors and the accomplishment of packing manipulation tasks. To validate the proposed approach, we conducted a detailed experimental study with multiple types and lengths of objects and packing boxes.

翻译：在本文中,我们提出了一个新的行动规划方法,将长线性弹性物体自动包装到带有双体机器人系统的通用大小箱中,为此,我们开发了一个混合几何模型,处理大规模隔离,将在线视觉方法和离线参考模板结合起来,然后引入一个参考点生成器,自动规划预先设计的行动原始体的参考体。最后,一个行动计划设计者将这些组成部分整合在一起,以便能够执行高层次的行为和完成包装操作任务。为了验证拟议方法,我们进行了一项关于多类型和长的物体和包装箱的详细实验研究。