Pervasive Computing and Computer Human Interaction |
|
|
|
|
Perception enhanced intelligent robotic arm system |
YANG Sha, YE Zhen yu, WANG Shu gang, TAO Hai, LI Shi jian |
1. College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China;
2. College of Information Science and Technology, Zhejiang Shuren University, Hangzhou 310015, China |
|
|
Abstract A perception enhanced model for devices like robotic arm was proposed in order to improve the service capacity and intelligence of service robot. The model enhanced the perception and cognition of robotic arm by fusing perceptive and cognitive ability from different sensing passages. Taking visual and tactile sense for example, scaleinvariant feature transform algorithm was applied on visual system to recognize and locate target object, principal component analysis algorithm was applied on tactile system to reduce dimensions of data collected by tactile sensors, and support vector machine algorithm was applied to obtain a classified model. In cognition system, the robotic arm was able to plan the trajectory adaptively and choose grab modes according to the object’s information when grabbing objects. Grasping and sorting experiments was performed in a mixed circumstance with many kinds of objects, of which the results has verified the availability of the perception enhanced robotic arm system.
|
Published: 01 June 2016
|
|
感认知增强的智能机械手系统
为了提高服务机器人的系统服务能力和智能化程度,提出一种面向机械手等器件的感认知增强模型.通过融合来自不同传感通道的感知能力和认知能力,增强机械手的感知和认知.基于此模型,以视觉、触觉为例,在视觉系统上用尺度不变特征变换算法实现目标物体的识别,并对目标物体进行定位;在触觉系统上对触觉传感器采集的数据用主成分分析算法降维,并用支持向量机算法获得分类模型;在认知系统上,机械手在抓取物体时根据物体信息自适应地规划路径并决策物体的抓取模式.通过在多类物体混杂环境中的抓取和分拣实验,验证了该感认知增强机械手系统的可用性.
|
|
[1] ROMANO J M, HSIAO K, NIEMEYER G, et al. HumanInspired robotic grasp control with tactile sensing[J]. IEEE Transactions on Robotics, 2011, 27(6):1067-1079.
[2] HARA I, ASANO F, ASOH H, et al. Robust speech interface based on audio and video information fusion for humanoid HRP2[J]. Intelligent Robots and Systems, 2004: 2404-2410.
[3] 彭飞,魏衡华.基于单目仿人机器人的障碍物测距方法[J].计算机系统应用,2013, 22(8): 88-90.
PENG Fei, WEI HengHua. Study on obstacle distance detection based on monocular humanoid robot[J]. Computer Systems and Applications, 2013, 22(8): 88-90.
[4] 厉茂海,洪炳镕,罗荣华,等.基于单目视觉的移动机器人全局定位[J].机器人,2007, 29(2):140-144.
LI Maohai, HONG Bingrong, LUO Ronghua, et al. Monocularvisionbased mobile robot global localization [J]. Robot, 2007, 29(2): 140-144.
[5] 萧伟,孙富春,刘华平.机器人灵巧手的触觉分析与建模[J].机器人, 2013, 35(4): 394-401.
XIAO Wei, SUN Fuchun, LIU Huaping. Tactile analysis and modeling of dextrous robotic hand [J]. Robot, 2013, 35(4): 394-401.
[6] JAMALI N, SAMMUT C. Majority voting: material classification by tactile sensing using surface texture [J]. IEEE Transactions on Robotics, 2011, 27(3):508-521.
[7] 吴春生,王丽江,刘清君,等.嗅觉传导机理及仿生嗅觉传感器的研究进展[J].科学通报,2007, 52(12): 1362-1371.
WU Chunsheng, WANG Lijiang, LIU Qingjun, et al. Research progress of olfactory transduction mechanism and bionic olfactory sensor [J]. Chinese Science Bulletin, 2007, 52(12): 1362-1371.
[8] 唐科,宗光华.熊猫机器人听觉传感器的设计与实现[J],传感器世界,2008, 14(10): 1720.
TANG ke, ZONG Guanghua. Design and realization of robot’s auditory sensor [J]. Sensor World, 2008, 14(10): 1720.
[9] GARCIA J G, ROBERTSSON A, ORTEGA J G, et al. Sensor fusion for compliant robot motion control [J]. IEEE Transactions on Robotics, 2008, 24(2): 430-441.
[10] KAM M, ZHU X X, KALATA P. Sensor fusion for mobile robot navigation [J]. Proceedings of the IEEE, 1997, 85(1): 108-119.
[11] XU D F, LOEB G E, FISHEL J A. Tactile identification of objects using bayesian exploration [J], Robotics and Automation(ICRA), 2013: 3056-3061.
[12] LOWE D G, Distinctive image features from scaleinvariant keypoints [J]. International Journal of Computer Vision, 2004, 60(2): 91-110.
[13] MOORE A W. An introductory tutorial on KDtrees [D]. UK: University of Cambridge, 1991.
[14] FISCHLER M A, BOLLES R C. Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography [J]. Communication of the ACM, 1981, 24(6): 381-395.
[15] 于仕琪,刘瑞祯.学习Opencv(中文版)[M].北京:清华大学出版社, 2012: 414-416.
[16] 周志华.机器学习[M].北京:清华大学出版社,2016: 229-232.
[17] 李航.统计学习方法[M].北京:清华大学出版社,2012: 95-115. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
|
Shared |
|
|
|
|
|
Discussed |
|
|
|
|