Target-Mass Grasping of Entangled Food Using Pre-Grasping & Post-Grasping
Target-Mass Grasping of Entangled Food Using Pre-Grasping & Post-Grasping
复制标题
使用预抓取实现缠结食物的目标质量抓取
DOI：
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复制
发表时间：
2022
影响因子：
5.2
通讯作者：
Avinash Ummadisingu
中科院分区：
文献类型：
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作者：
K. Takahashi;N. Fukaya;Avinash Ummadisingu
食品包装行业通常使用季节性原料，种类繁多，由工厂工人手工包装。对于按体积或重量挑选的容易缠绕、粘连或聚集在一起的小块食物，很难通过肉眼检查预测它们相互缠绕的程度，这使得准确把握所需的目标质量成为一个挑战。工人们依靠称重秤和一系列复杂的动作来分离食物并到达目标群体。这使得该过程的自动化不是一件微不足道的事情。在这项研究中，我们提出了结合以下方法：1)预先抓取以降低纠缠程度；2)抓取后使用一种新的抓取机构来调整抓取的质量，当抓取量大于目标质量时小心地丢弃多余的食物；3)选择抓取点以信心地抓取可能合理地高于目标抓取质量的量。我们对各种缠绕、粘连和结块的食物进行了评估，每种食物都有不同的大小、形状和材料特性，如体积质量密度。使用我们提出的方法，我们对用户指定的目标质量的抓取精度有了显著的提高。
Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight that tend to get entangled, stick or clump together, it is difficult to predict how intertwined they are from a visual examination, making it a challenge to grasp the requisite target mass accurately. Workers rely on a combination of weighing scales and a sequence of complex maneuvers to separate out the food and reach the target mass. This makes automation of the process a non-trivial affair. In this study, we propose methods that combines 1) pre-grasping to reduce the degree of the entanglement, 2) post-grasping to adjust the grasped mass using a novel gripper mechanism to carefully discard excess food when the grasped amount is larger than the target mass, and 3) selecting the grasping point to grasp an amount likely to be reasonably higher than target grasping mass with confidence. We evaluate the methods on a variety of foods that entangle, stick and clump, each of which has a different size, shape, and material properties such as volumetric mass density. We show significant improvement in grasp accuracy of user-specified target masses using our proposed methods.
DOI：
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发表时间：
2018-10
期刊：
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影响因子：
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作者：
Samuel Clarke;Travers Rhodes;C. Atkeson;Oliver Kroemer
通讯作者：
Samuel Clarke;Travers Rhodes;C. Atkeson;Oliver Kroemer