Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation

被引：0

作者：

Orso, Romeo ^{[1
]}

Marfeychuk, Mykhaylo ^{[1
]}

Baggetta, Mario ^{[2
]}

Fonseca, Mariana de Paula Assis ^{[1
]}

Wimshurst, Wesley ^{[1
]}

Porta, Francesco ^{[1
]}

Clarke, Morgan ^{[1
]}

Berselli, Giovanni ^{[2
]}

Konstantinova, Jelizaveta ^{[1
]}

机构：

[1] Ocado Technol, Hatfield AL10 9UL, Herts, England

[2] Univ Genoa, I-16126 Genoa, Italy

来源：

2024 20TH IEEE/ASME INTERNATIONAL CONFERENCE ON MECHATRONIC AND EMBEDDED SYSTEMS AND APPLICATIONS, MESA 2024 | 2024年

关键词：

OBJECTS;

D O I：

10.1109/MESA61532.2024.10704863

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation strategies used by humans to pick loose fruits and vegetables with the aim to better adopt them for robotic manipulation of diverse items. In this work we present a first version of a robotic setup designed to pick different single or multiple fresh items, featuring a multi-fingered compliant robotic gripper. We analyse human grasping strategies from the perspective of industrial key performance indicators (KPIs) used in the logistic sector. The robotic system was validated using the same KPIs, as well as taking into account human performance and strategies. This paper lays the foundation for future development of the robotic demonstrator for fresh fruit and vegetable intelligent manipulation, and outlines the need for generic approaches to handle the complexity of the task.

引用

页数：7

共 25 条

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