Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN

Nuryono S. Widodo; Eko Mulyanto Yuniarno; Mauridhi Hery Purnomo; Ronny Mardiyanto

doi:10.1109/ISITIA59021.2023.10221138

Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN

Institut Teknologi Sepuluh Nopember
Ahmad Dahlan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2023 International Seminar on Intelligent Technology and Its Applications
Subtitle of host publication	Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	422-426
Number of pages	5
ISBN (Electronic)	9798350313956
DOIs	https://doi.org/10.1109/ISITIA59021.2023.10221138
Publication status	Published - 2023
Event	24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 - Hybrid, Surabaya, Indonesia Duration: 26 Jul 2023 → 27 Jul 2023

Publication series

Name	2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding

Conference

Conference	24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023
Country/Territory	Indonesia
City	Hybrid, Surabaya
Period	26/07/23 → 27/07/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

assistive robot manipulator
convolutional neural network
visual perception

Access to Document

10.1109/ISITIA59021.2023.10221138

Cite this

Widodo, N. S., Yuniarno, E. M., Purnomo, M. H., & Mardiyanto, R. (2023). Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN. In 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding (pp. 422-426). (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISITIA59021.2023.10221138

Widodo, Nuryono S. ; Yuniarno, Eko Mulyanto ; Purnomo, Mauridhi Hery et al. / Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN. 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 422-426 (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding).

@inproceedings{708e98dc04d84d77848d0f6900dd139b,

title = "Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN",

abstract = "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.",

keywords = "assistive robot manipulator, convolutional neural network, visual perception",

author = "Widodo, \{Nuryono S.\} and Yuniarno, \{Eko Mulyanto\} and Purnomo, \{Mauridhi Hery\} and Ronny Mardiyanto",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023 ; Conference date: 26-07-2023 Through 27-07-2023",

year = "2023",

doi = "10.1109/ISITIA59021.2023.10221138",

language = "English",

series = "2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "422--426",

booktitle = "2023 International Seminar on Intelligent Technology and Its Applications",

address = "United States",

}

Widodo, NS, Yuniarno, EM , Purnomo, MH & Mardiyanto, R 2023, Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN. in 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding, Institute of Electrical and Electronics Engineers Inc., pp. 422-426, 24th International Seminar on Intelligent Technology and Its Applications, ISITIA 2023, Hybrid, Surabaya, Indonesia, 26/07/23. https://doi.org/10.1109/ISITIA59021.2023.10221138

Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN. / Widodo, Nuryono S.; Yuniarno, Eko Mulyanto ; Purnomo, Mauridhi Hery et al.
2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2023. p. 422-426 (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 - https://www.scopus.com/pages/publications/85171192483

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 -

Widodo NS, Yuniarno EM , Purnomo MH , Mardiyanto R. Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN. In 2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding. Institute of Electrical and Electronics Engineers Inc. 2023. p. 422-426. (2023 International Seminar on Intelligent Technology and Its Applications: Leveraging Intelligent Systems to Achieve Sustainable Development Goals, ISITIA 2023 - Proceeding). doi: 10.1109/ISITIA59021.2023.10221138

Assistive Robot Manipulator Pose Prediction based on Object Orientation using CNN

Abstract

Publication series

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UN SDGs

Keywords

Access to Document

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