A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context
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2021-05-27
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Abstract
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.
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Publisher Copyright: © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
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Autonomous industrial mobile manipulator , Deep learning , Robotics , Perception , Sensor fusion , Autonomous navigation , Computer vision , Skills , State machine , Autonomous industrial mobile manipulator , Deep learning , Robotics , Perception , Sensor fusion , Autonomous navigation , Computer vision , Skills , State machine , Control and Systems Engineering , Signal Processing , Hardware and Architecture , Computer Networks and Communications , Electrical and Electronic Engineering , SDG 9 - Industry, Innovation, and Infrastructure , Project ID , info:eu-repo/grantAgreement/EC/H2020/820689/EU/Seamless and safe human centred robotic applications for novel collaborative workplaces/SHERLOCK , info:eu-repo/grantAgreement/EC/H2020/820689/EU/Seamless and safe human centred robotic applications for novel collaborative workplaces/SHERLOCK , Funding Info , This research was funded by EC research project “SHERLOCK—Seamless and safe humancentered robotic applications for novel collaborative workplace”. Grant number: 820689 (https://www.sherlock-project.eu accessed on 12 March 2021). , This research was funded by EC research project “SHERLOCK—Seamless and safe humancentered robotic applications for novel collaborative workplace”. Grant number: 820689 (https://www.sherlock-project.eu accessed on 12 March 2021).
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Outón , J L , Merino , I , Villaverde , I , Ibarguren , A , Herrero , H , Daelman , P & Sierra , B 2021 , ' A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context ' , Electronics , vol. 10 , no. 11 , 1276 , pp. 1276 . https://doi.org/10.3390/electronics10111276