TY - GEN
T1 - Target-driven Object Grasping Method for Mobile Manipulator in Clutter
AU - Yu, Xinkai
AU - Gao, Yongzhuo
AU - Dong, Wei
AU - Li, Mingyang
AU - Liu, Huajian
AU - Wang, Chao
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - The demand for mobile manipulator in the military field is strong, but there is no product that can achieve autonomous grasping in a cluttered environment. In this paper, a target-driven grasp pose detection algorithm is proposed, which can be used to detect the grasp pose of a specified target object in a cluttered environment. After that, based on the lightweight requirements of the military, a mobile manipulator platform is built, and the forward and inverse kinematics model of the mobile manipulator is established. At the same time, a vehicle-arm coordination algorithm is designed to make the grasping efficiency higher. Finally, we use the mobile manipulator to perform autonomous grasping in a cluttered environment to verify the system functionality.
AB - The demand for mobile manipulator in the military field is strong, but there is no product that can achieve autonomous grasping in a cluttered environment. In this paper, a target-driven grasp pose detection algorithm is proposed, which can be used to detect the grasp pose of a specified target object in a cluttered environment. After that, based on the lightweight requirements of the military, a mobile manipulator platform is built, and the forward and inverse kinematics model of the mobile manipulator is established. At the same time, a vehicle-arm coordination algorithm is designed to make the grasping efficiency higher. Finally, we use the mobile manipulator to perform autonomous grasping in a cluttered environment to verify the system functionality.
KW - autonomous grasping
KW - grasp pose detection
KW - mobile manipulator
KW - target-driven
KW - vehicle-arm coordination
UR - https://www.scopus.com/pages/publications/85146496711
U2 - 10.1109/ICUS55513.2022.9987043
DO - 10.1109/ICUS55513.2022.9987043
M3 - 会议稿件
AN - SCOPUS:85146496711
T3 - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
SP - 980
EP - 985
BT - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Y2 - 28 October 2022 through 30 October 2022
ER -