TY - GEN
T1 - Image-to-Action Translations Based Object Grasping Strategy without Depth Information and Robot Kinematics Analysis
AU - Lin, Yu Wei
AU - Chien, Yi Hsing
AU - Hsu, Min Jie
AU - Wang, Wei Yen
AU - Lu, Cheng Kai
AU - Hsu, Chen Chien
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - Reinforcement learning
KW - image-to-action translations
KW - object grasping strategy
KW - proximal policy optimization (PPO)
UR - http://www.scopus.com/inward/record.url?scp=85174960005&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85174960005&partnerID=8YFLogxK
U2 - 10.1109/ICCE-Taiwan58799.2023.10226979
DO - 10.1109/ICCE-Taiwan58799.2023.10226979
M3 - Conference contribution
AN - SCOPUS:85174960005
T3 - 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings
SP - 53
EP - 54
BT - 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on Consumer Electronics - Taiwan, ICCE-Taiwan 2023
Y2 - 17 July 2023 through 19 July 2023
ER -