A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes
文献类型：期刊论文
| 作者 | Geng, Wenjie1,2 ; Cao, Zhiqiang1,2; Li, Zhonghui4; Yu, Yingying1,2; Jing, Fengshui1,2; Yu, Junzhi3
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| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
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| 出版日期 | 2021 |
| 卷号 | 18期号:1页码:11 |
| 关键词 | Robotic grasping elliptical cone potential field disturbed scene |
| ISSN号 | 1729-8814 |
| DOI | 10.1177/1729881420985739 |
| 通讯作者 | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| 英文摘要 | Vision-based grasping plays an important role in the robot providing better services. It is still challenging under disturbed scenes, where the target object cannot be directly grasped constrained by the interferences from other objects. In this article, a robotic grasping approach with firstly moving the interference objects is proposed based on elliptical cone-based potential fields. Single-shot multibox detector (SSD) is adopted to detect objects, and considering the scene complexity, Euclidean cluster is also employed to obtain the objects without being trained by SSD. And then, we acquire the vertical projection of the point cloud for each object. Considering that different objects have different shapes with respective orientation, the vertical projection is executed along its major axis acquired by the principal component analysis. On this basis, the minimum projected envelope rectangle of each object is obtained. To construct continuous potential field functions, an elliptical-based functional representation is introduced due to the better matching degree of the ellipse with the envelope rectangle among continuous closed convex curves. Guided by the design principles, including continuity, same-eccentricity equivalence, and monotonicity, the potential fields based on elliptical cone are designed. The current interference object to be grasped generates an attractive field, whereas other objects correspond to repulsive ones, and their resultant field is used to solve the best placement of the current interference object. The effectiveness of the proposed approach is verified by experiments. |
| 资助项目 | National Natural Science Foundation of China[62073322] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61836015] ; State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences[20190106] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000620695700001 |
| 出版者 | SAGE PUBLICATIONS INC |
| 资助机构 | National Natural Science Foundation of China ; State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43287]  |
| 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 | Jing, Fengshui |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.Peking Univ, Coll Engn, Dept Mech & Engn Sci, BIC ESAT, Beijing, Peoples R China 4.Beijing Engo Technol Co Ltd, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Geng, Wenjie,Cao, Zhiqiang,Li, Zhonghui,et al. A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18(1):11. |
| APA | Geng, Wenjie,Cao, Zhiqiang,Li, Zhonghui,Yu, Yingying,Jing, Fengshui,&Yu, Junzhi.(2021).A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18(1),11. |
| MLA | Geng, Wenjie,et al."A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18.1(2021):11. |
入库方式： OAI收割
来源：自动化研究所
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