TY - GEN
T1 - A 3D vision based object grasping posture learning system for home service robots
AU - Huang, Yi Lun
AU - Huang, Sheng Pi
AU - Chen, Hsiang Ting
AU - Chen, Yi Hsuan
AU - Liu, Chin Yin
AU - Li, Tzuu Hseng S.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/11/27
Y1 - 2017/11/27
N2 - This paper proposes a 3D vision based object grasping posture learning system. In this system, the robot recognizes the orientation of the object to decide the grasping posture, whereas selects a feasible grasping point by detecting the surrounding. When the planned posture is not good enough, the proposed learning system adjusts the position of the end effector real time. The learning system is inspired by a book entitled, Thinking, Fast and Slow, and consists of two subsystems. The subsystem I judges whether the pose of the object is learned before, and plans a grasping posture by past experience. When the pose of the object is not learned before, the subsystem II learns a position adjustment by the real time information form the motor angels and the images. Finally, the method proposed in this paper is applied to the home service robot and is proven the feasibility by the experimental results.
AB - This paper proposes a 3D vision based object grasping posture learning system. In this system, the robot recognizes the orientation of the object to decide the grasping posture, whereas selects a feasible grasping point by detecting the surrounding. When the planned posture is not good enough, the proposed learning system adjusts the position of the end effector real time. The learning system is inspired by a book entitled, Thinking, Fast and Slow, and consists of two subsystems. The subsystem I judges whether the pose of the object is learned before, and plans a grasping posture by past experience. When the pose of the object is not learned before, the subsystem II learns a position adjustment by the real time information form the motor angels and the images. Finally, the method proposed in this paper is applied to the home service robot and is proven the feasibility by the experimental results.
UR - http://www.scopus.com/inward/record.url?scp=85044231229&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85044231229&partnerID=8YFLogxK
U2 - 10.1109/SMC.2017.8123032
DO - 10.1109/SMC.2017.8123032
M3 - Conference contribution
AN - SCOPUS:85044231229
T3 - 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
SP - 2690
EP - 2695
BT - 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
Y2 - 5 October 2017 through 8 October 2017
ER -