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نتیجه جستجو - دید ربات

تعداد مقالات یافته شده: 2
ردیف عنوان نوع
1 Uncalibrated stereo vision with deep learning for 6-DOF pose estimation for a robot arm system
دید استریو کالیبره نشده با یادگیری عمیق برای برآورد 6-DOF برای سیستم بازوی ربات-2021
This paper proposes a novel method for six degrees of freedom pose estimation of objects for the application of robot arm pick and place. It is based on the use of a stereo vision system, which does not require calibration. Using both cameras, four corner points of the object are detected. A deep-neural- network (DNN) is trained for the prediction of the 6 DOF pose of the object from the four detected corner points’ coordinates in each image of both cameras. The stereo vision used is a low-end vision system placed in a custom-made setup. Before the training phase of the DNN, the robot is set to auto collect data in a predefined workspace. This workspace is defined dependently on the spatial feasibility of the robot arm and the shared field of view of the stereo vision system. The collected data represent images of a 2D marker attached to the robot arm gripper. The 2D marker is used for data collection to ease the detection of the four corner points. The proposed method succeeds in estimating the six degrees of freedom pose of the object, without the need for the determination of neither the intrinsic nor the extrinsic parameters of the stereo vision system. The optimum design of the proposed DNN is obtained after comparing different activation functions and optimizers associated with the DNN. The proposed uncalibrated DNN-based method performance is compared to that of the traditional calibration-based method. In the calibration-based method, the rotational matrix relating the robot coordinates to the stereo vision coordinates is computed using two approaches. The first approach uses Singular Value Decomposition (SVD) while the second approach uses a novel proposed modification of particle swarm optimization (PSO) called Hyper particle Scouts optimization (HPSO). HPSO outperforms other metaheuristic optimization algorithms such as PSO and genetic algorithm (GA).Exhaustive tests are performed, and the proposed DNN-based method is shown to outperform all tested alternatives.© 2021 Elsevier B.V. All rights reserved.
Keywords: Deep learning | Pose estimation | Robot vision | Stereo vision | Optimization techniques | Levenberg–Marquardt algorithm
مقاله انگلیسی
2 An experimental validation of a novel humanoid torso
یک اعتبار آزمایشی از یک نیم تنه جدید ربات انسان نما-2017
Article history:Received 17 October 2016Received in revised form 11 January 2017 Accepted 7 February 2017Available online 9 February 2017Keywords: Humanoid robots Humanoid torso Mechanism designCable-driven manipulators Experimental validationIn this paper a novel humanoid torso prototype is presented in two design configurations: the torso structure and the humanoid torso with head, arms and hands. An experimental validation has been carried out for each configuration while replicating human-like basic movements. The aim of this paper is to characterize the performance of the prototype by means of angles displacements and linear accelerations measured by an IMU (Inertia Measurement Unit) on the humanoid spine. Furthermore, power consumption has been monitored to check the feasibility for the usage of a Li-Po battery as on- board power supply in order to make the humanoid torso fully portable and to permit its assembly in a full humanoid robot.© 2017 Elsevier B.V. All rights reserved.
Keywords:Humanoid robots | Humanoid torso | Mechanism design | Cable-driven manipulators | Experimental validation
مقاله انگلیسی
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