Synchronous dual-arm manipulation by adult-sized humanoid robot

Hanjaya Mandala, Saeed Saeedvand, Jacky Baltes

研究成果: 書貢獻/報告類型會議論文篇章

摘要

This paper introduces a synchronous dual-arm manipulation with obstacle avoidance trajectory planning by an adult-size humanoid robot. In this regard, we propose a high precision 3D object coordinate tracking using LiDAR point cloud data and adopting Gaussian distribution into robot manipulation trajectory planning. We derived our 3D object detection into three methods included auto K-means clustering, deep learning object classification, and convex hull localization. Therefore, a lightweight 3D object classification based on a convolutional neural network (CNN) has been proposed that reached 91% accuracy with 0.34ms inference time on CPU. In empirical experiments, the Gaussian manipulation trajectory planning is applied adult-sized dual-arm robot, which shows efficient object placement with obstacle avoidance.

原文英語
主出版物標題2020 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2020
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781728198231
DOIs
出版狀態已發佈 - 2020 八月
事件2020 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2020 - Taipei, 臺灣
持續時間: 2020 八月 192020 八月 21

出版系列

名字International Conference on Advanced Robotics and Intelligent Systems, ARIS
2020-August
ISSN(列印)2374-3255
ISSN(電子)2572-6919

會議

會議2020 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2020
國家/地區臺灣
城市Taipei
期間2020/08/192020/08/21

ASJC Scopus subject areas

  • 控制與系統工程
  • 人工智慧

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