Shaolin Zhang, Yueguang Ge, Wenkai Chang, Haitao Wang, Shuo Wang
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Research on desktop object grasping based on ellipse fitting
The grasping operation task in service scenes faces several problems including too many kinds of objects and a large amount of training data. This paper focuses on the grasping strategy and pose detection in desktop object grasping tasks. A grasping strategy is given based on the combination of desktop normal vector detection, object category detection, and grasping pose detection. The grasping pose is calculated by ellipse fitting on the depth map. An optimal function is designed to evaluate the possibility of the object sliding along the ellipse axis and the stability of the grasping height. The most reliable grasping pose is selected. Finally, experiments were carried out with a six-degree-of-freedom manipulator, and the proposed grasping method achieved effective grasping of desktop objects without prior knowledge of the object.
期刊介绍:
Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review.
The scope of Cobot includes, but is not limited to:
● Intelligent robots
● Artificial intelligence
● Human-machine collaboration and integration
● Machine vision
● Intelligent sensing
● Smart materials
● Design, development and testing of collaborative robots
● Software for cobots
● Industrial applications of cobots
● Service applications of cobots
● Medical and health applications of cobots
● Educational applications of cobots
As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.