Object Grabbing With A Five-Finger Robot Hand Using Two-Camera Vision

机译：使用双相机视觉用五指机器人手抓住对象

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This paper discusses the problem of visual-based object grabbing using a five-finger robotic hand connected to a 4-DOF manipulator on an intelligent mobile robot. The CamShift algorithm is used to analyze the dynamic vision acquired by a pair of stereo cameras in three-dimension space. Afterwards, inverse and forward kinematics of manipulator and fingers are performed to drive the robot hand to appropriate position and grab a cup. In addition, a coordinate estimation correction method was proposed to improve the accuracy of the calculated position. The proposed method is validated in several experiments.

机译：本文讨论了使用连接到智能移动机器人的4-DOF机器人的五指机器人抓取基于视觉对象抓取的问题。 CAMShift算法用于分析三维空间中一对立体声相机获取的动态视觉。之后，执行操纵器和手指的反向和向前运动学，以将机器人手驱动到适当的位置并抓住杯子。另外，提出了一种坐标估计校正方法来提高计算位置的准确性。提出的方法在几个实验中验证。

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《International Conference on Machine Learning and Cybernetics》|2018年|337-678p|共7页
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GUAN-CHUN LUH; YU-CHUN CHUANG; KUN-HUNG HO;
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中图分类 TP181-53;
关键词
Robot kinematics; Kinematics; Manipulators; Thumb; Histograms; Microsoft Windows;

机译：机器人运动学;运动学;操纵器;拇指;直方图;微软Windows;

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1. Hybrid control strategies for a five-finger robotic hand [J] . Cheng-Hung Chen, D. Subbaram Naidu Biomedical signal processing and control . 2013,第4期

机译：五指机器人手的混合控制策略
2. Fuzzy Control of Target Approaching and Object-Grabbing for a Four-Wheeled Vision-Based Mobile Robot [J] . Chih-Hung Wu, I-Sheng Lin, Ming-Liang Wei Journal of Advanced Computatioanl Intelligence and Intelligent Informatics . 2013,第2a97期

机译：基于四轮视觉的移动机器人目标接近与抓取的模糊控制
3. Research on robot manipulator uncalibrated visual serving under two-camera bi-axial parallel vision configuration: [J] . Wang Niu, Liu Lang, Qiu Jing, Advances in Mechanical Engineering . 2015,第4期

机译：两机双轴平行视觉配置下机器人机械手非标定视觉服务的研究：
4. Object Grabbing With A Five-Finger Robot Hand Using Two-Camera Vision [C] . GUAN-CHUN LUH, YU-CHUN CHUANG, KUN-HUNG HO International Conference on Machine Learning and Cybernetics . 2018

机译：五手指机器人手利用两机视觉捕捉物体
5. Model-Based Systems Engineering Applied to the Detection and Correction of Object Slippage within a Dexterous Robotic Hand from the Laboratory to Simulation [D] . Meehan, Charles Anthony. 2020

机译：基于模型的系统工程应用于从实验室进行模拟的Dexterous机器人手中的对象滑动的检测和校正
6. Grasping Force Control of Multi-Fingered Robotic Hands through Tactile Sensing for Object Stabilization [O] . Zhen Deng, Yannick Jonetzko, Liwei Zhang, 2020

机译：基于触觉的多指机器人手抓力控制技术
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

Object Grabbing With A Five-Finger Robot Hand Using Two-Camera Vision

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