Multi-target detection and grasping control for humanoid robot NAO

doi:10.1002/acs.3031

	Multi-target detection and grasping control for humanoid robot NAO
	Zhang, Lei 1; Zhang, Huayan 1; Yang, Hanting 1; Bian, Gui-Bin2 ; Wu, Wanqing 3
刊名	INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
	2019-07-01
卷号	33 期号:7 页码:1225-1237
关键词	grasping method humanoid robot multi-target detection YOLOv3
ISSN号	0890-6327
DOI	10.1002/acs.3031
通讯作者	Bian, Gui-Bin(guibin.bian@ia.ac.cn)
英文摘要	Graspirng objects is an important capability for humanoid robots. Due to complexity of environmental and diversity of objects, it is difficult for the robot to accurately recognize and grasp multiple objects. In response to this problem, we propose a robotic grasping method that uses the deep learning method You Only Look Once v3 for multi-target detection and the auxiliary signs to obtain target location. The method can control the movement of the robot and plan the grasping trajectory based on visual feedback information. It is verified by experiments that this method can make the humanoid robot NAO grasp the object effectively, and the success rate of grasping can reach 80% in the experimental environment.
资助项目	National Natural Science Foundation of China[61473027] ; Beijing Key Laboratory of Robot Bionics and Function Research[BZ0337] ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; Beijing Advanced Innovation Center for Future Visual Entertainment ; Youth Innovation Promotion Association of the Chinese Academy of Sciences[2018165]
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	WILEY
WOS记录号	WOS:000474484500012
资助机构	National Natural Science Foundation of China ; Beijing Key Laboratory of Robot Bionics and Function Research ; Beijing Advanced Innovation Center for Intelligent Robots and Systems ; Beijing Advanced Innovation Center for Future Visual Entertainment ; Youth Innovation Promotion Association of the Chinese Academy of Sciences
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/26885]
专题	中国科学院自动化研究所
通讯作者	Bian, Gui-Bin
作者单位	1.Beijing Univ Civil Engn & Architecture, Beijing Key Lab Robot Bion & Funct Res, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Shenzhen Inst Adv Technol, CAS Key Lab Human Machine Intelligence Synergy Sy, Shenzhen, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Lei,Zhang, Huayan,Yang, Hanting,et al. Multi-target detection and grasping control for humanoid robot NAO[J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,2019,33(7):1225-1237.
APA	Zhang, Lei,Zhang, Huayan,Yang, Hanting,Bian, Gui-Bin,&Wu, Wanqing.(2019).Multi-target detection and grasping control for humanoid robot NAO.INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING,33(7),1225-1237.
MLA	Zhang, Lei,et al."Multi-target detection and grasping control for humanoid robot NAO".INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 33.7(2019):1225-1237.