A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

被引：0
|
作者：
Papageorgiou, Dimitrios [1 ]
Koutras, Leonidas [1 ]
Doulgeri, Zoe [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Automat & Robot Lab, Thessaloniki, Greece
来源：
2022 IEEE-RAS 21ST INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2022年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed. The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object progressively unveiling the neighborhood of each visible point of the object of interest. It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through simulations and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape cluster.
引用
收藏
页码：254 / 260
页数：7
相关论文
共 49 条
  • [31] Visual Motion Observer-Based Bilateral Control for Eye-in-Hand Mobile Robot Teleoperation
    Murao, Toshiyuki
    Kawai, Hiroyuki
    Tsuruo, Yusei
    Fujita, Masayuki
    2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), 2013, : 623 - 630
  • [32] Eye-hand online adaptation during reaching tasks in a humanoid robot
    Vicente, Pedro
    Ferreira, Ricardo
    Jamone, Lorenzo
    Bernardino, Alexandre
    FOUTH JOINT IEEE INTERNATIONAL CONFERENCES ON DEVELOPMENT AND LEARNING AND EPIGENETIC ROBOTICS (IEEE ICDL-EPIROB 2014), 2014, : 175 - 180
  • [33] Integrated View and Path Planning for an Autonomous six-DOF Eye-in-hand Object Modeling System
    Torabi, Liila
    Gupta, Kamal
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 4516 - 4521
  • [34] Exploring motion control for three-dimensional object recognition based on eye-in-hand visual servoing
    Ichikawa, Mariko
    Motoki, Satoshi
    Shibata, Masaaki
    IEEJ Transactions on Industry Applications, 2006, 126 (06) : 726 - 731
  • [35] A Convenient Pose Measurement Method of Mobile Robot Using Scan Matching and Eye-in-Hand Vision System
    Meng, Jie
    Wang, Shuting
    Li, Gen
    Jiang, Liquan
    Zhang, Xiaolong
    Xie, Yuanlong
    2019 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2019, : 1062 - 1067
  • [36] An autonomous six-DOF eye-in-hand system for in situ 3D object modeling
    Torabi, Liila
    Gupta, Kamal
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2012, 31 (01): : 82 - 100
  • [37] CONCEPTS OF AUGMENTED IMAGE SPACE AND TRANSFORMED FEATURE SPACE FOR EFFICIENT VISUAL SERVOING OF AN EYE-IN-HAND ROBOT
    JANG, W
    KIM, KJ
    CHUNG, MJ
    BIEN, ZN
    ROBOTICA, 1991, 9 : 203 - 212
  • [38] Fast Eye-in-Hand 3-D Scanner-Robot Calibration for Low Stitching Errors
    Liu, Xingjian
    Madhusudanan, Harikrishnan
    Chen, Wenyuan
    Li, Dahai
    Ge, Ji
    Ru, Changhai
    Sun, Yu
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (09) : 8422 - 8432
  • [39] A Hybrid Positioning Method for Eye-in-hand Industrial Robot by Using 3D Reconstruction and IBVS
    Nobakht, Hesan
    Liu, Yong
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2015, : 2609 - 2614
  • [40] Three dimensional object location in the eye-on-hand robot system
    Xu, ZX
    Sun, W
    SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION, 1997, : 1235 - 1238
12345