التفاصيل البيبلوغرافية
| العنوان: |
Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation |
| المؤلفون: |
Ma, Wanyu, Zhang, Bin, Han, Lijun, Huo, Shengzeng, Wang, Hesheng, Navarro-Alarcon, David |
| سنة النشر: |
2021 |
| مصطلحات موضوعية: |
Computer Science - Robotics |
| الوصف: |
In this paper, we propose a new action planning approach to automatically pack long linear elastic objects into common-size boxes with a bimanual robotic system. For that, we developed a hybrid geometric model to handle large-scale occlusions combining an online vision-based method and an offline reference template. Then, a reference point generator is introduced to automatically plan the reference poses for the predesigned action primitives. Finally, an action planner integrates these components enabling the execution of high-level behaviors and the accomplishment of packing manipulation tasks. To validate the proposed approach, we conducted a detailed experimental study with multiple types and lengths of objects and packing boxes. |
| نوع الوثيقة: |
Working Paper |
| URL الوصول: |
http://arxiv.org/abs/2110.11652 |
| رقم الانضمام: |
edsarx.2110.11652 |
| قاعدة البيانات: |
arXiv |