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用双臂机器人打开瓶的方法

Francisco J Naranjo-Campos¹, Juan G Victores¹, Carlos Balaguer¹

¹RoboticsLab, Systems and Automation Engineering Department, University Carlos III of Madrid, 28911 Leganés, Spain.

Biomimetics (Basel, Switzerland)

|September 27, 2024

概括

本研究介绍了一种用于打开瓶子的新型机器人系统,以帮助残疾人. 双臂机器人TIAGo++使用视觉,操纵和深度强化学习来提供有效的协助.

科学领域:

机器人技术机器人技术机器人技术
人与计算机的交互
人工智能的人工智能

背景情况:

受伤或残疾的个人通常需要协助日常操纵任务.
机器人辅助可以显著提高独立性和生活质量.

研究的目的:

开发和验证使用双臂机器人自动打开瓶子的机器人方法.
为需要帮助完成常见任务的个人提高可访问性.

主要方法:

使用TIAGo++双臂机器人与RGB-D摄像头进行基于视觉的物体检测.
实施了一个控制方案,将位置,力控制和深度强化学习 (DRL) 结合起来进行操纵.
计划安全的轨迹,以抓住和解动作.

主要成果:

成功训练了一个深度强化学习代理,用于精确控制抓柄旋转.
通过协调双臂操纵和力反来证明有效的瓶打开.
在实验环境中验证了系统的实际可行性.

结论:

拟议的机器人方法有效地自动打开瓶子,提高了可访问性.
视觉,操纵和DRL的整合为辅助机器人提供了一个强大的解决方案.

关键词:

辅助技术和康复工程等.自主机器人系统自主机器人系统机器学习是机器学习.感知和感知是感知和感知.位置和力量控制控制的位置和力量控制.强化学习控制强化学习控制机器人操纵器机器人操纵器

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机器人TIAGo++在帮助行动不便的个人方面显示出对现实应用的前景.