TY  - Journal Article
AU  - Outón, Jose Luis
AU  - Merino, Ibon
AU  - Villaverde, Iván
AU  - Ibarguren, Aitor
AU  - Herrero, Héctor
AU  - Daelman, Paul
AU  - Sierra, Basilio
TI  - A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context
PY  - 2021
PB  - Multidisciplinary Digital Publishing Institute (MDPI)
AB  - In modern industry there are still a large number of low added-value processes that
can be automated or semi-automated with safe cooperation between robot and human operators.
The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator
(AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs
need to have a variety of advanced cognitive skills like autonomous navigation, smart perception
and task management. In this paper, we report the project’s tackle in a paradigmatic industrial
application combining accurate autonomous navigation with deep learning-based 3D perception for
pose estimation to locate and manipulate different industrial objects in an unstructured environment.
The proposed method presents a combination of different technologies fused in an AIMM that
achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.
UR  - http://hdl.handle.net/11556/1145
DX  - 10.3390/electronics10111276
ER  -