论文标题

使用前抓斗和抓斗的目标质量抓住纠缠食物

Target-mass Grasping of Entangled Food using Pre-grasping & Post-grasping

论文作者

Takahashi, Kuniyuki, Fukaya, Naoki, Ummadisingu, Avinash

论文摘要

食品包装行业通常使用工厂工人手动包装的季节性成分。对于倾向于纠缠,粘在且陷入困境的体积或重量的小食物中,很难预测它们从视觉检查中交织在一起,这使得挑战是要准确地掌握必要的目标质量。工人依靠称重量表和一系列复杂的动作的组合来分开食物并达到目标质量。这使得该过程的自动化是非平凡的。在这项研究中,我们提出了结合结合的方法1)固定前以降低纠缠程度,2)使用新颖的握把机制来调整抓地力的质量,以小心地丢弃过量食物,当抓地量大于目标质量时,并且3)选择抓地点以掌握掌握量比目标掌握质量更高的抓地力。我们评估了缠结,棍子和结块的各种食物的方法,每种食物的大小,形状和材料特性(例如体积质量密度)都不同。我们使用建议的方法显示了用户指定目标质量的GRASP精度的显着提高。

Food packing industries typically use seasonal ingredients with immense variety that factory workers manually pack. For small pieces of food picked by volume or weight that tend to get entangled, stick or clump together, it is difficult to predict how intertwined they are from a visual examination, making it a challenge to grasp the requisite target mass accurately. Workers rely on a combination of weighing scales and a sequence of complex maneuvers to separate out the food and reach the target mass. This makes automation of the process a non-trivial affair. In this study, we propose methods that combines 1) pre-grasping to reduce the degree of the entanglement, 2) post-grasping to adjust the grasped mass using a novel gripper mechanism to carefully discard excess food when the grasped amount is larger than the target mass, and 3) selecting the grasping point to grasp an amount likely to be reasonably higher than target grasping mass with confidence. We evaluate the methods on a variety of foods that entangle, stick and clump, each of which has a different size, shape, and material properties such as volumetric mass density. We show significant improvement in grasp accuracy of user-specified target masses using our proposed methods.

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