Robotic pick-and-handover maneuvers with camera-based intelligent object detection and impedance control

Author:

Chen Qiguang1,Wan Lucas1,Pan Ya-Jun1ORCID

Affiliation:

1. Department of Mechanical EngineeringDalhousie University, Halifax, NS B3H 4R2, Canada

Abstract

A vision-based impedance control method is applied to a 7-degree-of-freedom Franka Emika (FE) Panda robotic manipulator to complete pick-and-handover tasks with human-like grasping of fruits. The interfaces between different hardware, controllers, and path planners are developed using robot operating systems (ROS). An RGB camera is applied using the YOLOv5 (You Only Look Once v5) object detection algorithm, which is trained for various fruits and human hands and then employed for identifying the location of the targeted objects. A qb-SoftHand robotic hand is used as the end-effector for the grasping tasks. By integrating these components together with ROS, the FE Panda robot successfully achieves autonomous human-like handover tasks, as shown in the experimental results.

Funder

Natural Sciences and Engineering Research Council of Canada

Publisher

Canadian Science Publishing

Subject

Mechanical Engineering

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3