| Autor: |
Martin Jagersand, Camilo Perez Quintero, Rong Feng, Masood Dehghan, Oscar Ramirez, Andy Hess, Hong Zhang |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
Advances on Robotic Item Picking ISBN: 9783030356781 |
| DOI: |
10.1007/978-3-030-35679-8_2 |
| Popis: |
Our team participated in the 2015 picking challenge with a 7DOF Barrett WAM arm and hand. Our robot was placed on a fixed base and had difficulty reaching and grasping objects deep inside the shelve bins. Given limited resources we come up with a simple design, a custom-made mechanism to bring objects to the edge of the shelve bins. During trials we explored both image-based visual servoing and Kinect RGB-D vision. The former, while precise, relied on fragile video tracking. The final system used open-loop RGB-D vision and readily available open-source tools. In this chapter we log our strategy and the lessons we have learned. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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