Research Article
Autonomous System for Performing Dexterous, Human-Level Manipulation Tasks as Response to External Stimuli in Real Time
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@INPROCEEDINGS{10.1007/978-3-319-92213-3_36, author={Ana Neacșu and Corneliu Burileanu and Horia Cucu}, title={Autonomous System for Performing Dexterous, Human-Level Manipulation Tasks as Response to External Stimuli in Real Time}, proceedings={Future Access Enablers for Ubiquitous and Intelligent Infrastructures. Third International Conference, FABULOUS 2017, Bucharest, Romania, October 12-14, 2017, Proceedings}, proceedings_a={FABULOUS}, year={2018}, month={7}, keywords={Image recognition Shape recognition Color detection Kinect Robotic arm Clustering Autonomous system}, doi={10.1007/978-3-319-92213-3_36} }- Ana Neacșu
Corneliu Burileanu
Horia Cucu
Year: 2018
Autonomous System for Performing Dexterous, Human-Level Manipulation Tasks as Response to External Stimuli in Real Time
FABULOUS
Springer
DOI: 10.1007/978-3-319-92213-3_36
Abstract
The system solves a complex puzzle, namely a Pyraminx (Rubik’s pyramid), demonstrating the degree of movement complexity that the Kinova robotic arm can achieve. The system is composed of three important parts: the first one’s main purpose is to capture real time images from the Kinect sensor and to process them into input data for the second module. The second part, the core of the system, performs all necessary computations in order to make a movement decision based on the available data. The third part represents an interface with the robotic arm, transposing the decision from the second block into pure movement data, passed to the Kinova’s controller.
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