RT Journal Article
T1 A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context
A1 Outón, Jose Luis
A1 Merino, Ibon
A1 Villaverde, Iván
A1 Ibarguren, Aitor
A1 Herrero, Héctor
A1 Daelman, Paul
A1 Sierra, Basilio
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.
SN 2079-9292
YR 2021
FD 2021-05-27
LA eng
NO 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
NO Publisher Copyright: © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
DS TECNALIA Publications
RD 29 jun 2024