A 3D vision based object grasping posture learning system for home service robots

Yi Lun Huang, Sheng Pi Huang, Hsiang Ting Chen, Yi Hsuan Chen, Chin Yin Liu, Tzuu Hseng S. Li

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2690-2695
頁數6
ISBN(電子)9781538616451
DOIs
出版狀態Published - 2017 十一月 27
事件2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 - Banff, Canada
持續時間: 2017 十月 52017 十月 8

出版系列

名字2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
2017-January

Other

Other2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017
國家Canada
城市Banff
期間17-10-0517-10-08

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Human-Computer Interaction
  • Control and Optimization

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  • 引用此

    Huang, Y. L., Huang, S. P., Chen, H. T., Chen, Y. H., Liu, C. Y., & Li, T. H. S. (2017). A 3D vision based object grasping posture learning system for home service robots. 於 2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017 (頁 2690-2695). (2017 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2017; 卷 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2017.8123032