A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

被引：0
作者：
Papageorgiou, Dimitrios [1 ]
Koutras, Leonidas [1 ]
Doulgeri, Zoe [1 ]
机构：
[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Automat & Robot Lab, Thessaloniki, Greece
来源：
2022 IEEE-RAS 21ST INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2022年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work, a control scheme for approaching and unveiling a partially occluded object of interest is proposed. The control scheme is based only on the classified point cloud obtained by the in-hand camera attached to the robot's end effector. It is shown that the proposed controller reaches in the vicinity of the object progressively unveiling the neighborhood of each visible point of the object of interest. It can therefore potentially achieve the complete unveiling of the object. The proposed control scheme is evaluated through simulations and experiments with a UR5e robot with an in-hand RealSense camera on a mock-up vine setup for unveiling the stem of a grape cluster.
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页码：254 / 260
页数：7
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