Vision for Robust Robot Manipulation

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Títol: Vision for Robust Robot Manipulation
Autors: Martinez-Martin, Ester | Pobil, Angel P. del
Grups d'investigació o GITE: Robótica y Visión Tridimensional (RoViT)
Centre, Departament o Servei: Universidad de Alicante. Departamento de Ciencia de la Computación e Inteligencia Artificial
Paraules clau: Robotics | Robot manipulation | Depth vision
Àrees de coneixement: Ciencia de la Computación e Inteligencia Artificial
Data de publicació: 6-d’abril-2019
Editor: MDPI
Citació bibliogràfica: Martinez-Martin E, del Pobil AP. Vision for Robust Robot Manipulation. Sensors. 2019; 19(7):1648. doi:10.3390/s19071648
Resum: Advances in Robotics are leading to a new generation of assistant robots working in ordinary, domestic settings. This evolution raises new challenges in the tasks to be accomplished by the robots. This is the case for object manipulation where the detect-approach-grasp loop requires a robust recovery stage, especially when the held object slides. Several proprioceptive sensors have been developed in the last decades, such as tactile sensors or contact switches, that can be used for that purpose; nevertheless, their implementation may considerably restrict the gripper’s flexibility and functionality, increasing their cost and complexity. Alternatively, vision can be used since it is an undoubtedly rich source of information, and in particular, depth vision sensors. We present an approach based on depth cameras to robustly evaluate the manipulation success, continuously reporting about any object loss and, consequently, allowing it to robustly recover from this situation. For that, a Lab-colour segmentation allows the robot to identify potential robot manipulators in the image. Then, the depth information is used to detect any edge resulting from two-object contact. The combination of those techniques allows the robot to accurately detect the presence or absence of contact points between the robot manipulator and a held object. An experimental evaluation in realistic indoor environments supports our approach.
Patrocinadors: This research was partially funded by Ministerio de Economía y Competitividad grant number DPI2015-69041-R.
URI: http://hdl.handle.net/10045/90949
ISSN: 1424-8220
DOI: 10.3390/s19071648
Idioma: eng
Tipus: info:eu-repo/semantics/article
Drets: © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Revisió científica: si
Versió de l'editor: https://doi.org/10.3390/s19071648
Apareix a la col·lecció: INV - RoViT - Artículos de Revistas

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