Grasping an Indicated Object in a Complex Environment
Grasping an Indicated Object in a Complex Environment
复制标题
在复杂环境中抓取指定物体
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Y. Kawai
中科院分区：
文献类型：
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作者：
K. Nagata;Takashi Miyasaka;Y. Kanamiya;N. Yamanobe;K. Maruyama;S. Kawabata;Y. Kawai
©2013日本机械工程师学会本文介绍了一种在复杂环境中拾取指示物体的任务指令系统。该系统的基本设置包括一个机械手，一个立体相机，和一个监视器。该任务指令方案包括以下四个主要步骤：1）用户通过鼠标点击在摄像机图像上指示目标对象，并从弹出列表中选择对象类别和抓取形式。通过这种方式，系统获得关于目标物体上的点击点的3D位置坐标、物体的原始形状以及用于利用所选择的抓握形式拾取物体的任务模型的信息。2)该系统获取目标物体的信息，并使用从任务指令获得的信息通过立体视觉构建目标周围的环境模型。3)该系统基于使用所获取的信息的抓握评估来找到抓握点。4)机器人执行拾取所指示的对象。该方案的特点是用户可以通过简单的点击操作方便地指示机器人如何执行物体拾取任务，并且机器人可以拾取放置在复杂环境中的指示物体，而无需任何关于目标物体的先验知识。
©2013 The Japan Society of Mechanical Engineers This paper presents a task instruction system for picking up an indicated object in a complex environment. The basic setup of the system consists of a manipulator, a stereo camera, and a monitor. The task instruction scheme comprises the following four main steps: 1) The user indicates the target object on the camera image by a mouse click, and selects the object category and grasping form from a pop-up list. In this way, the system obtains information about the 3D position coordinates of the clicked point on the target object, the primitive shape of the object, and the task model for object picking with the selected grasping form. 2) The system acquires the information about the target object and constructs an environment model around the target by stereo vision using the information obtained from the task instruction. 3) The system finds a grasp point based on a grasp evaluation using the acquired information. 4) The robot performs picking up the indicated object. The features of the scheme are that the user can easily instruct the robot how to perform the object picking task by simple clicking operation, and the robot can pick up the indicated object placed in a complex environment without any previous knowledge of the target object.