Documenti accessibili
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Informazioni generali |
| Autore |
Willimon, Bryan; Birchfield, Stan; Walker, Ian D. |
| Pubblicato |
InTech Open Access Publisher, 2012
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| Abstract |
This paper explores the concept of interactive
perception, in which sensing guides manipulation, in the
context of extracting and classifying unknown objects
within a cluttered environment. In the proposed
approach, a pile of objects lies on a flat background, and
the goal of the robot is to isolate, interact with, and
classify each object so that its properties can be obtained.
The algorithm considers each object to be classified using
color, shape, and flexibility. The approach works with a
variety of objects relevant to service robot applications,
including both rigid objects such as bottles, cans, and
pliers as well as non‐rigid objects such as soft toy animals,
socks, and shoes. Experiments on a number of different
piles of objects demonstrate the ability of efficiently
isolating and classifying each item through interaction. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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