{
  "abstract": "A method for handling a load arrangement with a robot includes: activating a lifting state of a gripper of the robot for load lifting; determining a parameter of a time profile of a load arrangement-dependent force variable using at least one sensor of the robot during a movement of the lifted load arrangement; classifying a load arrangement lifted by the gripper using a machine-learned model on the basis of the determined parameter, in particular during a movement of the lifted load arrangement and/or over the pick-up area in which the load arrangement has been situated for lifting, in particular a pick-up area of a pick-up station and/or over or in a pick-up container; and at least one of the steps of: carrying out a first process with the robot if the load arrangement has been classified into a first class; and/or carrying out a second process with the robot if the load arrangement has been classified into a second class.",
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    "KUKA DEUTSCHLAND GMBH"
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    "KASPAR MANUEL"
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  "title": "Method and system for handling a load arrangement with a robot gripper",
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