Markerless Vision-Based One Cardboard Box Grasping using Dual Arm Robot
| Autor: | Sofiane Medjram, Khairidine Benali, Jean-Francois Brethe |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Vision based
Computer Networks and Communications Computer science business.industry GRASP cardboard 020207 software engineering 02 engineering and technology Cardboard box Dual (category theory) Hardware and Architecture Position (vector) visual_art 0202 electrical engineering electronic engineering information engineering Media Technology visual_art.visual_art_medium Robot Computer vision Artificial intelligence business Software |
| Zdroj: | Multimedia Tools and Applications. 79:22617-22633 |
| ISSN: | 1573-7721 1380-7501 |
| DOI: | 10.1007/s11042-020-08996-2 |
| Popis: | Nowadays, robots are indispensable in industry, especially logistics industry, to replace human employees performing heavy lifting tasks. Introducing robots prevents musculoskeletal disorders that are common in ageing workforce. We designed and implemented a dual arm robot to grasp cardboard boxes of different dimensions using a hydrid force/position control. In a first step, the position of the cardboard was estimated using markers and ARtags, and an integrated camera. However this solution showed some limitation, because it is not possible to place ARtag on every cardboard of a logistic warehouse. In this paper, we propose a new method to estimate one cardboard box position based on vision without the need of markers at all. Our method explores the advantages of the RGBD integrated camera through the use of strong features and perspective geometry. Our method is very adequate to the case of one cardboard box due to the simplicity of its geometric shape. The experiments show that our method is fast, robust and precise, and of course is better suited to the logistics warehouse environment than the marker estimation procedure for palletization applications. |
| Databáze: | OpenAIRE |
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