Multi-target detection and grasping control for humanoid robot NAO
文献类型：期刊论文
| 作者 | Zhang, Lei1; Zhang, Huayan1; Yang, Hanting1; Bian, Gui-Bin2 ; Wu, Wanqing3
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| 刊名 | INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
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| 出版日期 | 2019-07-01 |
| 卷号 | 33期号:7页码:1225-1237 |
| 关键词 | grasping method humanoid robot multi-target detection YOLOv3 |
| ISSN号 | 0890-6327 |
| DOI | 10.1002/acs.3031 |
| 通讯作者 | Bian, Gui-Bin(guibin.bian@ia.ac.cn) |
| 英文摘要 | Graspirng objects is an important capability for humanoid robots. Due to complexity of environmental and diversity of objects, it is difficult for the robot to accurately recognize and grasp multiple objects. In response to this problem, we propose a robotic grasping method that uses the deep learning method You Only Look Once v3 for multi-target detection and the auxiliary signs to obtain target location. The method can control the movement of the robot and plan the grasping trajectory based on visual feedback information. It is verified by experiments that this method can make the humanoid robot NAO grasp the object effectively, and the success rate of grasping can reach 80% in the experimental environment. |
| 资助项目 | National Natural Science Foundation of China[61473027] ; Beijing Key Laboratory of Robot Bionics and Function Research[BZ0337] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; Beijing Advanced Innovation Center for Future Visual Entertainment ; Youth Innovation Promotion Association of the Chinese Academy of Sciences[2018165] |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000474484500012 |
| 出版者 | WILEY |
| 资助机构 | National Natural Science Foundation of China ; Beijing Key Laboratory of Robot Bionics and Function Research ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; Beijing Advanced Innovation Center for Future Visual Entertainment ; Youth Innovation Promotion Association of the Chinese Academy of Sciences |
| 源URL | [http://ir.ia.ac.cn/handle/173211/26885]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Bian, Gui-Bin |
| 作者单位 | 1.Beijing Univ Civil Engn & Architecture, Beijing Key Lab Robot Bion & Funct Res, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Shenzhen Inst Adv Technol, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Lei,Zhang, Huayan,Yang, Hanting,et al. Multi-target detection and grasping control for humanoid robot NAO[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2019,33(7):1225-1237. |
| APA | Zhang, Lei,Zhang, Huayan,Yang, Hanting,Bian, Gui-Bin,&Wu, Wanqing.(2019).Multi-target detection and grasping control for humanoid robot NAO.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,33(7),1225-1237. |
| MLA | Zhang, Lei,et al."Multi-target detection and grasping control for humanoid robot NAO".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 33.7(2019):1225-1237. |
入库方式： OAI收割
来源：自动化研究所
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