Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning

Bibliographic Details
Main Author: Liu, Chenlu
Publication Date: 2022
Other Authors: Jiang, Di, Lin, Weiyang, Gomes, Luís
Format: Article
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10362/143205
Summary: This work was supported by the National Key R&D Program of China (No.2018YFB-1308400) Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.
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network_name_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
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spelling Robot Grasping Based on Stacked Object Classification Network and Grasping Order PlanningGrasping order planningRobot graspingStacked object classificationControl and Systems EngineeringSignal ProcessingHardware and ArchitectureComputer Networks and CommunicationsElectrical and Electronic EngineeringThis work was supported by the National Key R&D Program of China (No.2018YFB-1308400) Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.In this paper, the robot grasping for stacked objects is studied based on object detection and grasping order planning. Firstly, a novel stacked object classification network (SOCN) is proposed to realize stacked object recognition. The network takes into account the visible volume of the objects to further adjust its inverse density parameters, which makes the training process faster and smoother. At the same time, SOCN adopts the transformer architecture and has a self-attention mechanism for feature learning. Subsequently, a grasping order planning method is investigated, which depends on the security score and extracts the geometric relations and dependencies between stacked objects, it calculates the security score based on object relation, classification, and size. The proposed method is evaluated by using a depth camera and a UR-10 robot to complete grasping tasks. The results show that our method has high accuracy for stacked object classification, and the grasping order effectively and successfully executes safely.UNINOVA-Instituto de Desenvolvimento de Novas TecnologiasCTS - Centro de Tecnologia e SistemasRUNLiu, ChenluJiang, DiLin, WeiyangGomes, Luís2022-08-23T22:18:14Z2022-02-252022-02-25T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article15application/pdfhttp://hdl.handle.net/10362/143205eng2079-9292PURE: 42844569https://doi.org/10.3390/electronics11050706info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2024-05-22T18:04:30Zoai:run.unl.pt:10362/143205Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T17:35:19.557938Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
title Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
spellingShingle Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
Liu, Chenlu
Grasping order planning
Robot grasping
Stacked object classification
Control and Systems Engineering
Signal Processing
Hardware and Architecture
Computer Networks and Communications
Electrical and Electronic Engineering
title_short Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
title_full Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
title_fullStr Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
title_full_unstemmed Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
title_sort Robot Grasping Based on Stacked Object Classification Network and Grasping Order Planning
author Liu, Chenlu
author_facet Liu, Chenlu
Jiang, Di
Lin, Weiyang
Gomes, Luís
author_role author
author2 Jiang, Di
Lin, Weiyang
Gomes, Luís
author2_role author
author
author
dc.contributor.none.fl_str_mv UNINOVA-Instituto de Desenvolvimento de Novas Tecnologias
CTS - Centro de Tecnologia e Sistemas
RUN
dc.contributor.author.fl_str_mv Liu, Chenlu
Jiang, Di
Lin, Weiyang
Gomes, Luís
dc.subject.por.fl_str_mv Grasping order planning
Robot grasping
Stacked object classification
Control and Systems Engineering
Signal Processing
Hardware and Architecture
Computer Networks and Communications
Electrical and Electronic Engineering
topic Grasping order planning
Robot grasping
Stacked object classification
Control and Systems Engineering
Signal Processing
Hardware and Architecture
Computer Networks and Communications
Electrical and Electronic Engineering
description This work was supported by the National Key R&D Program of China (No.2018YFB-1308400) Publisher Copyright: © 2022 by the authors. Licensee MDPI, Basel, Switzerland.
publishDate 2022
dc.date.none.fl_str_mv 2022-08-23T22:18:14Z
2022-02-25
2022-02-25T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10362/143205
url http://hdl.handle.net/10362/143205
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 2079-9292
PURE: 42844569
https://doi.org/10.3390/electronics11050706
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 15
application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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