کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Mapping Human Grasping to 3-Finger Grippers: A Deep Learning Perspective

نویسندگان :

Fatemeh Naeinian¹ Elnaz Balazadeh² Mehdi Tale Masouleh³

1- University of Tehran 2- University of Tehran 3- University of Tehran

کلمات کلیدی :

Grasping،Grasp Detection،MediaPipe،Deep Learning،Object Detection

چکیده :

Grasping is a fundamental aspect of human interaction with the environment, and replicating this ability in robotic systems is challenging due to the complexity of hand-object interactions. This paper explores the mapping of human grasping behavior to a 3-finger robotic gripper using a deep learning approach. The study focuses on the development of a model that predicts grasping points based on RGB images of objects and finger coordinates during the approaching state. The research contributes a novel dataset of human-like grasping with 3 fingers, capturing various object orientations and scenarios. Finger coordinates are extracted in both the approaching and grasping states by using Mediapipe. The proposed model employs a pre-trained Faster R-CNN for object detection, coupled with fully connected networks for regression of grasping points. Evaluation metrics include Intersection over Union (IoU), grasp angle, and accuracy of predicted points for each finger. The trained network achieves compelling results, demonstrating 72% accuracy, 96.5% in grasp angle, and a 30% IoU in grasp rectangle representation. Results indicate the efficacy of the approach, offering a promising avenue for advancing robotic grasping capabilities.

لیست مقالات

لیست مقالات بایگانی شده

Compact Multiband HMSIW Antenna Loaded with Complementary Split Ring Resonators

Rasol Zayer - Mohamamd Naghi Azarmanesh - Javad Nourinia - Changiz Ghobadi - Farzad Alizadeh - Bahman Mohammadi

Towards Non-Invasive Deep Brain Stimulation Using Temporal Interference Method

Mehdi Gholami - Farshid Ghobadzadeh - Fatemeh Yazdanshenas - Amir Yazdani - Mohammad Neshat

Design and Modeling of Graphene Based Electro-absorption Modulator Integrated with Hybrid Plasmonic Waveguides

Hadi Soofi - Shima Karkon Bagheri - Hamid Vahed

Evaluation Study of Different Integration Methods of LCC Compensation Network for Various Types of Magnetic Structures of Wireless Power Transfer

Nima Rasekh - Navid Rasekh - Mojtaba Mirsalim

Towards Blockchain-based Remote Management Systems for Patients with Movement Disorders

Behnaz Behara - Mehdi Delrobaei

Image Inpainting Using AutoEncoder and Guided Selection of Predicted Pixels

Mohammad Hossein Givkashi - Mahshid Hadipour - َArezoo PariZanganeh - Zahra Nabizadeh Shahre-Babak - Nader Karimi - Shadrokh Samavi

طراحی قانون رویداد-تحریک دینامیکی برای سیستم های سینگولار خطی به منظور کاهش تعداد بروزرسانی

سیدمحمدرضا احمدانجوی - طاهره بینازاده

A Single-Fed Circularly-Polarized Elliptical Slot Antenna for S-Band applications

Sina Rezaee - Mahdi Janforooz - Behnam Rasoulpour

طراحی روش مبتنی بر آنالیز پوش داده برای ارزیابی عملکرد ایستگاه های فوق توزیع و تعیین سطح مطلوب قابلیت اطمینان سیستم توزیع انرژی الکتریکی

محمد رستگار - زهرا یزدانپناه - محمد جوشکی

مدیریت بهینه توان در یک ساختمان هوشمند حاوی واحدهای ترکیبی برق و حرارت و منابع تولیدپراکنده در حضور ذخیره ساز انرژی

اسماعیل زحمت کشان

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0