Vision-Based Imitation Learning of Needle Reaching Skill for Robotic Precision Manipulation
文献类型：期刊论文
| 作者 | Li, Ying1,2 ; Qin, Fangbo1,2; Du, Shaofeng3; Xu, De1,2; Zhang, Jianqiang3
|
| 刊名 | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
 |
| 出版日期 | 2021 |
| 卷号 | 101期号:1页码:13 |
| 关键词 | Imitation learning Skill learning Visual control Robotic precision manipulation Neural networks |
| ISSN号 | 0921-0296 |
| DOI | 10.1007/s10846-020-01290-1 |
| 通讯作者 | Li, Ying(liying2016@ia.ac.cn) |
| 英文摘要 | In this paper, an imitation learning approach of vision guided reaching skill is proposed for robotic precision manipulation, which enables the robot to adapt its end-effector's nonlinear motion with the awareness of collision-avoidance. The reaching skill model firstly uses the raw images of objects as inputs, and generates the incremental motion command to guide the lower-level vision-based controller. The needle's tip is detected in image space and the obstacle region is extracted by image segmentation. A neighborhood-sampling method is designed for needle component collision perception, which includes a neural networks based attention module. The neural network based policy module infers the desired motion in the image space according to the neighborhood-sampling result, goal and current positions of the needle's tip. A refinement module is developed to further improve the performance of the policy module. In three dimensional (3D) manipulation tasks, typically two cameras are used for image-based vision control. Therefore, considering the epipolar constraint, the relative movements in two cameras' views are refined by optimization. Experimental are conducted to validate the effectiveness of the proposed methods. |
| WOS关键词 | MICROSCOPIC VISION |
| 资助项目 | National Key Research and Development Program of China[2018AAA0103005] ; National Natural Science Foundation of China[61873266] ; State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System[GZ2019KF008] |
| WOS研究方向 | Computer Science ; Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000600232300001 |
| 出版者 | SPRINGER |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42786]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Li, Ying |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 3.State Key Lab Smart Mfg Special Vehicles & Transm, Baotou City 014000, Inner Mongolia, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Ying,Qin, Fangbo,Du, Shaofeng,et al. Vision-Based Imitation Learning of Needle Reaching Skill for Robotic Precision Manipulation[J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,2021,101(1):13. |
| APA | Li, Ying,Qin, Fangbo,Du, Shaofeng,Xu, De,&Zhang, Jianqiang.(2021).Vision-Based Imitation Learning of Needle Reaching Skill for Robotic Precision Manipulation.JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS,101(1),13. |
| MLA | Li, Ying,et al."Vision-Based Imitation Learning of Needle Reaching Skill for Robotic Precision Manipulation".JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 101.1(2021):13. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。