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Marco de Agarre en Tiempo Real Orientado a Objetivos para Robots con Recursos Limitados
Dongxiao Han1, Haorong Li1, Yuwen Li1
1Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 201900, China.
Sensors (Basel, Switzerland)
|January 28, 2026
Resumen
Este estudio presenta un marco eficiente para la sujeción en tiempo real orientada a objetivos en robots con potencia de cálculo limitada. El sistema logra altas tasas de éxito en varios escenarios, permitiendo aplicaciones de robots móviles.
Área de la Ciencia:
- Robótica y Automatización; Visión por Computadora; Inteligencia Artificial
Sus antecedentes:
- La sujeción orientada a objetivos es crucial para robots domésticos e industriales.; El despliegue de sistemas de sujeción en robots móviles es un desafío debido a las restricciones computacionales.
Objetivo del estudio:
- Desarrollar un marco eficiente para la sujeción en tiempo real orientada a objetivos en plataformas con recursos limitados.; Soportar tanto la sujeción basada en clics para objetos desconocidos como la sujeción basada en categorías para objetos conocidos.
Principales métodos:
- YOLOv8 comprimido para reducir la complejidad del modelo y mantener la precisión de la detección.; GR-ConvNetv2 para la generación de poses de agarre, refinado por máscaras de MobileSAMv2.; Un módulo de corrección basado en geometría para mejorar la precisión de la pose de agarre.
Principales resultados:
- Se logró un 98.8% de éxito en la sujeción en el conjunto de datos de Cornell y un 95.8% en el conjunto de datos de Jacquard.; Se demostró más del 90% de éxito en escenarios del mundo real con objetos desordenados y de un solo objeto.; Rendimiento en tiempo real: 67 ms (basado en clics) y 75 ms (basado en categorías) por fotograma.
Conclusiones:
- El marco propuesto ofrece alta precisión de agarre y rendimiento robusto.; El diseño eficiente permite su implementación en robots móviles y con recursos limitados.
Palabras clave:
marco eficientecorrección de agarre basada en geometríaplataformas con recursos limitadospoda estructuradaagarre orientado a objetivosMás Videos Relacionados
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