Future Access Enablers for Ubiquitous and Intelligent Infrastructures. Third International Conference, FABULOUS 2017, Bucharest, Romania, October 12-14, 2017, Proceedings

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
Ana Neacșu1,*, Corneliu Burileanu1,*, Horia Cucu1,*
  • 1: University Politehnica of Bucharest
*Contact email: ana.neacsu@speed.pub.ro, corneliu.burileanu@speed.pub.ro, horia.cucu@speed.pub.ro

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.