A stereo visual interface for manipulating the grasping operation of a fruit-harvesting robot

作者：Liu, Baixin; Gong, Liang^*; Chen, Qianli; Zhao, Yuanshen; Liu, Chengliang

来源：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2014, 8918: 239-244.

• Emulation technique
• Fruit harvesting
• Human-robot systems
• Kinematics analysis
• Laboratory environment
• Remote operation
• Robot motion control
• Visual Interface

To facilitate the human-aided recognition and positioning in a human-robot system, we present a design of remote operation interface on the basis of machine vision for fruit-harvesting robot. The interface has two following functions: 1) pointing out an object and commanding the robot’s grasping by the point-and-circle graphical user interface (P&C GUI). 2) Online kinematics analysis and robot motion control via establishing the linkage interface between a parameter panel and a virtual robot model. To build up this work, the stereo vision and kinematics emulation are introduced. The stereo vision presents the robotic scenario with deep information and renders it to the operator. The emulation technique provides the pre-operation verification and a direct control scheme. Then implementation and experimentation under laboratory environment are conducted to validate the effectiveness of the proposed paradigm.

• 出版日期2014
• 单位上海交通大学