Knowledge Commons of Institute of Automation,CAS
A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes | |
Wenjie Geng; Zhiqiang Cao; Zhonghui Li; Yingying Yu; Fengshui Jing; Junzhi Yu | |
发表期刊 | International Journal of Advanced Robotic Systems |
2021-01 | |
卷号 | 1期号:18页码:1-11 |
产权排序 | 1 |
摘要 | Vision-based grasping plays an important role in the robot providing better services. It is still challenging under disturbed scenes, where the target object cannot be directly grasped constrained by the interferences from other objects. In this article, a robotic grasping approach with firstly moving the interference objects is proposed based on elliptical cone-based potential fields. Single-shot multibox detector (SSD) is adopted to detect objects, and considering the scene complexity, Euclidean cluster is also employed to obtain the objects without being trained by SSD. And then, we acquire the vertical projection of the point cloud for each object. Considering that different objects have different shapes with respective orientation, the vertical projection is executed along its major axis acquired by the principal component analysis. On this basis, the minimum projected envelope rectangle of each object is obtained. To construct continuous potential field functions, an elliptical-based functional representation is introduced due to the better matching degree of the ellipse with the envelope rectangle among continuous closed convex curves. Guided by the design principles, including continuity, same-eccentricity equivalence, and monotonicity, the potential fields based on elliptical cone are designed. The current interference object to be grasped generates an attractive field, whereas other objects correspond to repulsive ones, and their resultant field is used to solve the best placement of the current interference object. The effectiveness of the proposed approach is verified by experiments. |
关键词 | Robotic grasping, elliptical cone, potential field, disturbed scene |
学科领域 | 自动化技术应用 ; 人工智能 ; 计算机神经网络 |
学科门类 | 工学 ; 工学::控制科学与工程 |
收录类别 | SCI |
语种 | 英语 |
七大方向——子方向分类 | 机器人感知与决策 |
国重实验室规划方向分类 | 智能进化环境 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52250 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Fengshui Jing |
推荐引用方式 GB/T 7714 | Wenjie Geng,Zhiqiang Cao,Zhonghui Li,et al. A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes[J]. International Journal of Advanced Robotic Systems,2021,1(18):1-11. |
APA | Wenjie Geng,Zhiqiang Cao,Zhonghui Li,Yingying Yu,Fengshui Jing,&Junzhi Yu.(2021).A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes.International Journal of Advanced Robotic Systems,1(18),1-11. |
MLA | Wenjie Geng,et al."A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes".International Journal of Advanced Robotic Systems 1.18(2021):1-11. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A robotic grasping a(15762KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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