The Realization of Intelligent Robot System for Milk Tea Production

被引：0
|
作者：
Hu, Bin [1 ]
Zhang, Xiaodong [1 ,2 ]
Ding, Tianju [2 ]
Dong, Xisong
Huang, Bidan [3 ]
Zheng, Yu [3 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
[2] Yantai Inst Technol, Yantai 265500, Peoples R China
[3] Tencent Robot X Lab, Shenzhen 518057, Peoples R China
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2021年 / 6卷 / 04期
关键词：
Robots; Grippers; Grasping; Task analysis; Force; Dairy products; Robot kinematics;
D O I：
10.1109/LRA.2021.3113870
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
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.
引用
收藏
页码：8689 / 8693
页数：5
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