A CAD-Free Vision-Guided Framework for Robotic Deburring of Flexible Shoe Soles
Alessandra Tafuro, Marco Guarini, Angelo Mineo, Andrea Maria Zanchettin, Paolo Rocco
AI summary
Problem
Automating the deburring of flexible shoe soles is challenging due to material deformation, variable burr shapes, and diverse sole geometries, while existing robotic solutions typically depend on CAD models or extensive training data and lack online adaptation.
Approach
The system uses the Segment Anything Model 2 for zero-shot burr detection, generates cutting paths from vision data, and executes them using Forward Dynamics Compliance Control with continuous RGB-D vision correction to handle deformations.
Key results
- 95% success rate across diverse sole types
- Eliminates need for CAD templates or sole-specific training
- Integrates zero-shot defect detection with online compliant control
- Validated on UR5e robot with custom vacuum gripper
Why it matters
Provides a scalable, adaptable automation solution for footwear manufacturing that bridges the gap between manual dexterity and industrial robotic finishing.
Abstract
Robotic sole deburring is a key, yet underexplored, challenge in footwear automation, where the deformable nature of rubber, variability of burrs, and diversity of sole geometries make automation difficult. Existing deburring approaches typ- ically rely on CAD models or large training datasets, and often lack the ability to adapt online during execution. This paper presents a CAD-free, vision-guided framework for robotic deburring of shoe soles that integrates: (i) defect detection using the Segment Anything Model 2 without sole-specific training; (ii) motion planning for burr removal; and (iii) motion execution combining Forward Dynamics Compliance Control with online vision-based path tracking. The framework was validated on a UR5e robot equipped with a custom vacuum gripper. Results demonstrate a 95% success rate across soles of varying sizes, colors, and shapes. By eliminating CAD dependence, ensuring robust online correction, and maintaining compatibility with existing industrial deburring machines, this work provides a scalable step toward robotic finishing solutions in footwear manufacturing.