Your browser doesn't support javascript.
loading
Grasping detection of dual manipulators based on Markov decision process with neural network.
Yun, Juntong; Jiang, Du; Huang, Li; Tao, Bo; Liao, Shangchun; Liu, Ying; Liu, Xin; Li, Gongfa; Chen, Disi; Chen, Baojia.
Afiliación
  • Yun J; Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China.
  • Jiang D; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of science and Technology, Wuhan 430081, China; Hubei Longzho
  • Huang L; College of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan 430081, China; Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System, Wuhan University of Science and Technology, Wuhan 430081, China.
  • Tao B; Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China; H
  • Liao S; Hubei Longzhong Laboratory, Xiangyang 441000, Hubei, China.
  • Liu Y; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China; Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of science and Technology, Wuhan 430081, China. Electronic ad
  • Liu X; Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China.
  • Li G; Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Research Center for Biomimetic Robot and Intelligent Measurement and Control, Wuhan University of science and Technology, Wuhan 430081, China; H
  • Chen D; Robotics and machine vision, Bristol Robotics Lab, University of the West of England, United Kingdom.
  • Chen B; Hubei Key Laboratory of Hydroelectric Machinery Design& Maintenance, China Three Gorges University, Yichang 443002, China.
Neural Netw ; 169: 778-792, 2024 Jan.
Article en En | MEDLINE | ID: mdl-38000180
With the development of artificial intelligence, robots are widely used in various fields, grasping detection has been the focus of intelligent robot research. A dual manipulator grasping detection model based on Markov decision process is proposed to realize the stable grasping with complex multiple objects in this paper. Based on the principle of Markov decision process, the cross entropy convolutional neural network and full convolutional neural network are used to parameterize the grasping detection model of dual manipulators which are two-finger manipulator and vacuum sucker manipulator for multi-objective unknown objects. The data set generated in the simulated environment is used to train the two grasping detection networks. By comparing the grasping quality of the detection network output the best grasping by the two grasping methods, the network with better detection effect corresponding to the two grasping methods of two-finger and vacuum sucker is determined, and the dual manipulator grasping detection model is constructed in this paper. Robot grasping experiments are carried out, and the experimental results show that the proposed dual manipulator grasping detection method achieves 90.6% success rate, which is much higher than the other groups of experiments. The feasibility and superiority of the dual manipulator grasping detection method based on Markov decision process are verified.
Asunto(s)
Palabras clave
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Inteligencia Artificial / Redes Neurales de la Computación Idioma: En Revista: Neural Netw Asunto de la revista: NEUROLOGIA Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Asunto principal: Inteligencia Artificial / Redes Neurales de la Computación Idioma: En Revista: Neural Netw Asunto de la revista: NEUROLOGIA Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos