  This paper addresses the challenge of industrial bin picking using entangled
wire harnesses. Wire harnesses are essential in manufacturing but poses
challenges in automation due to their complex geometries and propensity for
entanglement. Our previous work tackled this issue by proposing a quasi-static
pulling motion to separate the entangled wire harnesses. However, it still
lacks sufficiency and generalization to various shapes and structures. In this
paper, we deploy a dual-arm robot that can grasp, extract and disentangle wire
harnesses from dense clutter using dynamic manipulation. The robot can swing to
dynamically discard the entangled objects and regrasp to adjust the undesirable
grasp pose. To improve the robustness and accuracy of the system, we leverage a
closed-loop framework that uses haptic feedback to detect entanglement in
real-time and flexibly adjust system parameters. Our bin picking system
achieves an overall success rate of 91.2% in the real-world experiments using
two different types of long wire harnesses. It demonstrates the effectiveness
of our system in handling various wire harnesses for industrial bin picking.
