0% Complete
صفحه اصلی
/
سی و دومین کنفرانس بین المللی مهندسی برق
Explorable Grasp Pose Detection for Two-Finger Robot Handover
نویسندگان :
AliReza Beigy
1
Mehdi Tale Masouleh
2
Ahmad Kalhor
3
1- دانشگاه تهران
2- دانشگاه تهران
3- دانشگاه تهران
کلمات کلیدی :
3D grasp pose detection،Optimal grasping regions،grasp quality metrics،Geometry،Annotated datasets
چکیده :
The efficient generation of datasets for deep neural networks is crucial for enhancing their performance, especially in complex tasks like grasp pose detection in robotic grasp planning. Traditional methods often resort to random selection or rely on human-annotated datasets, making it challenging for networks to accurately learn graspable areas. For 3D grasp pose detection, an exhaustive search within an expansive space of points consumes substantial time and often overlooks an object's potential graspable regions. This paper introduces an algorithm capable of leveraging depth sensor information, particularly from devices like Kinect, to precisely determine the best grasp poses for object handovers. The proposed method, named Explorable Grasp Detection is based on the idea of exploitation and exploration, ensuring there is no redundant grasp detection within the same region. The results derived from DexNet's mesh objects dataset indicate remarkable computational efficiency, achieving grasp results in less than one second for various objects and maintaining a high success rate. Furthermore, error functions as geometry grasp quality metrics tailored for a two-finger gripper are incorporated to evaluate the grasp quality. One of the most notable contributions of this paper is the algorithm's ability to not only detect optimal grasping regions rapidly but also to serve as an instrumental tool for generating annotated datasets, thereby pushing forward the boundaries in robotic object manipulation techniques.
لیست مقالات
لیست مقالات بایگانی شده
Design of Dual-Band Triangular Microstrip Antenna Using Fractal Structure for Wi-Max and Wi-Fi Applications
Arian Mianji - Mohammad Bemani - Saeid Nikmehr - Ahmad Atashpaz Gargari
مبدل DC/DC افزاینده شبهرزونانسی مبتنی بر ضربکنندهی ولتاژ ترکیبی با کلیدزنی نرم و بهرهی ولتاژ بالا
کوشا چوبداری عمران - رضا بیرانوند
Flexible Microgrid Scheduling with the Presence of Renewable Energy Resources
Mahdi Rahimi - Fatemeh Jahanbani Ardakani - Ali Reza Rahimi
A Novel Analytical Tuning Method for Designing of Composite Nonlinear Feedback Control Law in Continuous-time Dynamical Systems
Ali Vazani - Valiollah Ghaffari
Evanescent-to-Propagating Wave Conversion Using Continuous High-Order Dielectric Metasurfaces
Hamid Akbari Chelaresi - Pooria Salami - Leila Yousefi
An Improved Real-Time Implementation of Adaptive Neuro-fuzzy Controller
Iman Gholizadeh - Haniye Raziyan - Reza Javidan
Stability Analysis of Distributed-Order Systems: a Lyapunov Scheme
Vahid Badri
ساخت یک تراشه میکروسیالی برای شمارش سلول های معلق در مایع با الکترود های مایع
نرگس حسین زاده - پادینا فرخیان - سیدعلی حسینی
Enhancing the Incident Angle Band in Carpet Cloaking using Deep Neural Networks
Amirhossein Fallah - Leila Yousefi - Ahmad Kalhor
Kickback noise reduction and offset cancellation technique for dynamic latch comparator
Mansoure Yousefirad - Mohammad Yavari
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 41.7.4