抓住
模块化设计
任务(项目管理)
光学(聚焦)
竞赛(生物学)
计算机科学
实现(概率)
控制(管理)
人工智能
机器人
控制工程
人机交互
工程类
生产(经济)
系统工程
软件工程
数学
经济
宏观经济学
物理
光学
操作系统
统计
生物
生态学
作者
Bin Hu,Xiaodong Zhang,Tianju Ding,Xisong Dong,Bidan Huang,Yu Zheng
出处
期刊:IEEE robotics and automation letters
日期:2021-10-01
卷期号:6 (4): 8689-8693
标识
DOI:10.1109/lra.2021.3113870
摘要
At present, there are many challenges for robotic systems to grasp in a dynamic and unstructured environment. The Robotic Grasping and Manipulation Competition (RGMC) aims to encourage researchers to focus on these challenges. The solution proposed in this letter was used to compete in the 2019 and 2020 RGMC and achieved first prize and second prize, respectively. The solution included the design of a new type of modular gripper to complete the task of making milk tea in the competition. This solution is based on the Rethink Sawyer robot platform and the use of machine vision and force control to complete the precise identification and dexterous control of dynamic objects in the competition task.
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