Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis

Yu Wei Lin; Yi Hsing Chien; Min Jie Hsu; Wei Yen Wang; Cheng Kai Lu; Chen Chien Hsu

doi:10.1109/ICCE-Taiwan58799.2023.10226979

Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis

Yu Wei Lin^*, Yi Hsing Chien, Min Jie Hsu, Wei Yen Wang, Cheng Kai Lu, Chen Chien Hsu

^*Corresponding author for this work

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The main objective of this paper is to utilize only RGB images to let a robotic arm grasp a target object without the related 3D position information. The advantages of the proposed method include image-to-action translations that apply to a class of general robotic arms, and the mathematical analysis of the inverse kinematics is not necessary. We employ the RGB images and the proximal policy optimization (PPO) algorithm to train the reinforcement learning network in the Gazebo simulated environment. Finally, an illustrative example shows how effective the proposed strategy is.

Original language	English
Title of host publication	2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	53-54
Number of pages	2
ISBN (Electronic)	9798350324174
DOIs	https://doi.org/10.1109/ICCE-Taiwan58799.2023.10226979
Publication status	Published - 2023
Event	2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Pingtung, Taiwan Duration: 2023 Jul 17 → 2023 Jul 19

Publication series

Name	2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings

Conference

Conference	2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023
Country/Territory	Taiwan
City	Pingtung
Period	2023/07/17 → 2023/07/19

Keywords

Reinforcement learning
image-to-action translations
object grasping strategy
proximal policy optimization (PPO)

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Information Systems
Information Systems and Management
Electrical and Electronic Engineering
Media Technology
Instrumentation

Access to Document

10.1109/ICCE-Taiwan58799.2023.10226979

Cite this

Lin, Y. W., Chien, Y. H., Hsu, M. J., Wang, W. Y., Lu, C. K., & Hsu, C. C. (2023). Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis. In 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings (pp. 53-54). (2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCE-Taiwan58799.2023.10226979

Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis. / Lin, Yu Wei; Chien, Yi Hsing; Hsu, Min Jie et al.
2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. p. 53-54 (2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lin, YW, Chien, YH, Hsu, MJ, Wang, WY, Lu, CK & Hsu, CC 2023, Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis. in 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings. 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 53-54, 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023, Pingtung, Taiwan, 2023/07/17. https://doi.org/10.1109/ICCE-Taiwan58799.2023.10226979

Lin YW, Chien YH, Hsu MJ, Wang WY, Lu CK, Hsu CC. Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis. In 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2023. p. 53-54. (2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings). doi: 10.1109/ICCE-Taiwan58799.2023.10226979

Lin, Yu Wei ; Chien, Yi Hsing ; Hsu, Min Jie et al. / Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis. 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 53-54 (2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings).

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abstract = "The main objective of this paper is to utilize only RGB images to let a robotic arm grasp a target object without the related 3D position information. The advantages of the proposed method include image-to-action translations that apply to a class of general robotic arms, and the mathematical analysis of the inverse kinematics is not necessary. We employ the RGB images and the proximal policy optimization (PPO) algorithm to train the reinforcement learning network in the Gazebo simulated environment. Finally, an illustrative example shows how effective the proposed strategy is.",

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Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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