Robotic Grasping of Unknown Objects
[chapter]
Mario Richtsfeld, Markus Vincze
2011
Robot Arms
+PVTQFWEVKQP ´3HRSOH KDYH DOZD\V EHHQ IDVFLQDWHG E\ WKH H[TXLVLWH SUHFLVLRQ DQG IOH[LELOLW\ RI WKH KXPDQ KDQG :KHQ KDQG PHHWV REMHFW ZH FRQIURQW WKH RYHUODSSLQJ ZRUOGV RI VHQVRULPRWRU DQG FRJQLWLYH IXQFWLRQVµ &DVWLHOOR ,Q WKH ODVW IHZ GHFDGHV WKH SUREOHP RI JUDVSLQJ DQG PDQLSXODWLRQ RI XQNQRZQ REMHFWV LQ D IXOO\ DXWRPDWLF ZD\ KDV JDLQHG LQFUHDVLQJ LPSRUWDQFH GXH PDLQO\ WR WKH ZLGHVSUHDG XVH RI VHUYLFH DQG UHKDELOLWDWLRQ URERWLFV &DVDOV 0HUFKDQ 0DUWHQV 5XFKHO ,YOHY 0DUWHQV 7KH JUDVSLQJ WDVN KDV
more »
... HHQ VWXGLHG IURP D SV\FKRORJLFDO ELRORJLFDO DQG HQJLQHHULQJ IRFXV EXW LV VWLOO XQUHVROYHG 7KHUH H[LVW GLIIHUHQW VROXWLRQV IRU FHUWDLQ FDVHV KRZHYHU WKHUH LV VWLOO QR JHQHUDO YDOLG VROXWLRQ $XWRPDWLF JUDVSLQJ RI XQNQRZQ REMHFWV IURP D VLQJOHYLHZ LV D GLIILFXOW SUREOHP EHFDXVH WKH SRVH DQG VKDSH RI WKH REMHFW DUH XQNQRZQ DQG WKH SRVVLEOH KDQG FRQILJXUDWLRQV WR UHDOL]H D VWDEOH JUDVS DUH QXPHURXV :H SURSRVH D QHZ VWUDWHJ\ IRU PRGHOOLQJ DQG JUDVSLQJ XQNQRZQ REMHFWV EDVHG RQ ' UHFRQVWUXFWLRQ 7KH V\VWHP FRQVLVWV RI D ODVHUUDQJH VFDQQHU D VLPXODWLRQ HQYLURQPHQW D '2) URERW DUP DQG D PXOWLILQJHUHG URERW KDQG 7KH REMHFW WR EH JUDVSHG LV VFDQQHG E\ D ODVHUUDQJH VFDQQHU IURP RQO\ RQH VLQJOHYLHZ DQG UHFRQVWUXFWHG LQ VLPXODWLRQ 'XULQJ WKH VFDQQLQJ SURFHVV WKH V\VWHP JHWV LPSRUWDQW LQIRUPDWLRQ DERXW WKH REMHFW VWUXFWXUH VKDSH SODFH VL]H DQG RULHQWDWLRQ RI WKH REMHFW :H SUHVHQW D PHWKRG IRU VHJPHQWDWLRQ RI D ' SRLQW FORXG LQWR SDUWV DVVHPEO\ RI URWDWLRQDOO\ V\PPHWULF SDUWV LQWR REMHFWV DQG FDOFXODWLRQ RI JUDVSLQJ SRLQWV DQG SRVHV 7KH DOJRULWKP FKHFNV SRWHQWLDO FROOLVLRQV EHWZHHQ WKH JULSSHU WKH REMHFW WR EH JUDVSHG DOO VXUURXQGLQJ REMHFWV DQG WKH WDEOH WRS 7KH H[SHULPHQWDO UHVXOWV GHPRQVWUDWH WKH HIIHFWLYHQHVV RI WKH SURSRVHG PHWKRG WR JUDVS D ZLGH UDQJH RI REMHFWV 7KH RXWOLQH RI WKH SURSRVHG ZRUN LV DV IROORZV 6HFWLRQ LQWURGXFHV RXU URERWLF V\VWHP DQG LWV FRPSRQHQWV 6HFWLRQ GHVFULEHV WKH VHJPHQWDWLRQ RI ' SRLQW FORXGV LQWR SDUWV WKH DVVHPEO\ RI SDUWV LQWR REMHFWV DQG GHWDLOV WKH PHUJLQJ RI FOLSSHG URWDWLRQDOO\ V\PPHWULF REMHFWV 6HFWLRQ GHWDLOV WKH FDOFXODWLRQ RI JUDVSLQJ SRLQWV IRU URWDWLRQDOO\ V\PPHWULF REMHFWV DQG RSWLPDO KDQG SRVHV IRU DUELWUDU\ REMHFWV WR JUDVS DQG PDQLSXODWH DQ REMHFW ZLWKRXW FROOLVLRQ 6HFWLRQ VKRZV WKH DFKLHYHG UHVXOWV DQG 6HFWLRQ ILQDOO\ FRQFOXGHV WKH ZRUN www.intechopen.com %106'/214#4; 41$16+%5 %JCNNGPIGU CPF 5QNWVKQPU
doi:10.5772/16799
fatcat:e3ry65tywzexlh3py6wzhacu2i