Synchronous Dual-Arm Manipulation by Adult-Sized Humanoid Robot
| Autor: | Hanjaya Mandala, Saeed Saeedvand, Jacky Baltes |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Deep learning 02 engineering and technology Object (computer science) Convolutional neural network Object detection Computer Science::Robotics 020901 industrial engineering & automation Obstacle avoidance 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Cluster analysis Humanoid robot |
| Zdroj: | 2020 International Conference on Advanced Robotics and Intelligent Systems (ARIS). |
| Popis: | This paper introduces a synchronous dual-arm manipulation with obstacle avoidance trajectory planning by an adult-size humanoid robot. In this regard, we propose a high precision 3D object coordinate tracking using LiDAR point cloud data and adopting Gaussian distribution into robot manipulation trajectory planning. We derived our 3D object detection into three methods included auto K-means clustering, deep learning object classification, and convex hull localization. Therefore, a lightweight 3D object classification based on a convolutional neural network (CNN) has been proposed that reached 91% accuracy with 0.34ms inference time on CPU. In empirical experiments, the Gaussian manipulation trajectory planning is applied adult-sized dual-arm robot, which shows efficient object placement with obstacle avoidance. |
| Databáze: | OpenAIRE |
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