Grasp Selection for In-Hand Robotic Manipulation of Non-Rigid Objects with Shape Control
| Autor: | Felix Nadon, Pierre Payeur |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science GRASP Cognitive neuroscience of visual object recognition 02 engineering and technology Object (computer science) Task (project management) 020901 industrial engineering & automation 0202 electrical engineering electronic engineering information engineering Task analysis Selection (linguistics) Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence Control (linguistics) business |
| Zdroj: | SysCon |
| DOI: | 10.1109/syscon47679.2020.9275929 |
| Popis: | The ability to intelligently manipulate non-rigid objects with a robotic hand is a requirement for many tasks which remain to be automated in domains such as agriculture, food processing, or medicine. This ability includes the nontrivial skill of controlling the shape of the object during the manipulation, which normally requires advanced knowledge of the properties of the object under manipulation as well as simulation capabilities. This work proposes an efficient algorithm and control framework that integrates RGB-D computer vision with a three-finger robotic gripper in a systemic approach for selecting the initial grasp points for a 2D shape control task through visual inspection of the object and desired target shape contours. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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