TY - GEN
T1 - Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN
AU - Widodo, Nuryono S.
AU - Yuniarno, Eko Mulyanto
AU - Purnomo, Mauridhi Hery
AU - Mardiyanto, Ronny
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Robot, as dictated by its assistive function for human, frequently needed to perform object manipulation (i.e. robotic manipulation). A successful robotic manipulation not only determined by the robot actuator, it is also strongly affected by the robot perception in capturing the world and the workpieces. Robotics has made extensive use of camera-based visual perception, especially robotic manipulation. This perception will enable the robot to perform object(workpieces) detection and localization and generate suitable control policy to move the robot via a series of robot poses. This paper proposed an assistive robot manipulator pose prediction based on object orientation using CNN. The manipulator pose prediction will enable further action for a successful robotic manipulation by providing a relative pose between the object and manipulator. Experiment result shown that the presented method was able to predict the robot pose, especially on the fifth joint of the robot accurately based on the object orientation images.
AB - Robot, as dictated by its assistive function for human, frequently needed to perform object manipulation (i.e. robotic manipulation). A successful robotic manipulation not only determined by the robot actuator, it is also strongly affected by the robot perception in capturing the world and the workpieces. Robotics has made extensive use of camera-based visual perception, especially robotic manipulation. This perception will enable the robot to perform object(workpieces) detection and localization and generate suitable control policy to move the robot via a series of robot poses. This paper proposed an assistive robot manipulator pose prediction based on object orientation using CNN. The manipulator pose prediction will enable further action for a successful robotic manipulation by providing a relative pose between the object and manipulator. Experiment result shown that the presented method was able to predict the robot pose, especially on the fifth joint of the robot accurately based on the object orientation images.
KW - assistive robot manipulator
KW - convolutional neural network
KW - visual perception
UR - http://www.scopus.com/inward/record.url?scp=85171192483&partnerID=8YFLogxK
U2 - 10.1109/ISITIA59021.2023.10221138
DO - 10.1109/ISITIA59021.2023.10221138
M3 - Conference contribution
AN - SCOPUS:85171192483
T3 - 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
SP - 422
EP - 426
BT - 2023 International Seminar on Intelligent Technology and Its Applications
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Y2 - 26 July 2023 through 27 July 2023
ER -
