FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3158373855> ?p ?o ?g. }

• W3158373855 endingPage "699" @default.
• W3158373855 startingPage "688" @default.
• W3158373855 abstract "The purpose of this paper is to propose and evaluate the method for grasping a defined set of objects in an unstructured environment. To this end, the authors propose the method of integrating convolutional neural network (CNN)-based object detection and the category-free grasping method. The considered scenario is related to mobile manipulating platforms that move freely between workstations and manipulate defined objects. In this application, the robot is not positioned with respect to the table and manipulated objects. The robot detects objects in the environment and uses grasping methods to determine the reference pose of the gripper.,The authors implemented the whole pipeline which includes object detection, grasp planning and motion execution on the real robot. The selected grasping method uses raw depth images to find the configuration of the gripper. The authors compared the proposed approach with a representative grasping method that uses a 3D point cloud as an input to determine the grasp for the robotic arm equipped with a two-fingered gripper. To measure and compare the efficiency of these methods, the authors measured the success rate in various scenarios. Additionally, they evaluated the accuracy of object detection and pose estimation modules.,The performed experiments revealed that the CNN-based object detection and the category-free grasping methods can be integrated to obtain the system which allows grasping defined objects in the unstructured environment. The authors also identified the specific limitations of neural-based and point cloud-based methods. They show how the determined properties influence the performance of the whole system.,The authors identified the limitations of the proposed methods and the improvements are envisioned as part of future research.,The evaluation of the grasping and object detection methods on the mobile manipulating robot may be useful for all researchers working on the autonomy of similar platforms in various applications.,The proposed method increases the autonomy of robots in applications in the small industry which is related to repetitive tasks in a noisy and potentially risky environment. This allows reducing the human workload in these types of environments.,The main contribution of this research is the integration of the state-of-the-art methods for grasping objects with object detection methods and evaluation of the whole system on the industrial robot. Moreover, the properties of each subsystem are identified and measured." @default.
• W3158373855 created "2021-05-10" @default.
• W3158373855 creator A5004010808 @default.
• W3158373855 creator A5058513166 @default.
• W3158373855 creator A5065531863 @default.
• W3158373855 creator A5090443600 @default.
• W3158373855 date "2021-03-25" @default.
• W3158373855 modified "2023-09-23" @default.
• W3158373855 title "Practical aspects of detection and grasping objects by a mobile manipulating robot." @default.
• W3158373855 doi "https://doi.org/10.1108/ir-10-2020-0242" @default.
• W3158373855 hasPublicationYear "2021" @default.
• W3158373855 type Work @default.
• W3158373855 sameAs 3158373855 @default.
• W3158373855 citedByCount "4" @default.
• W3158373855 countsByYear W31583738552021 @default.
• W3158373855 countsByYear W31583738552023 @default.
• W3158373855 crossrefType "journal-article" @default.
• W3158373855 hasAuthorship W3158373855A5004010808 @default.
• W3158373855 hasAuthorship W3158373855A5058513166 @default.
• W3158373855 hasAuthorship W3158373855A5065531863 @default.
• W3158373855 hasAuthorship W3158373855A5090443600 @default.
• W3158373855 hasConcept C111919701 @default.
• W3158373855 hasConcept C124101348 @default.
• W3158373855 hasConcept C131979681 @default.
• W3158373855 hasConcept C153180895 @default.
• W3158373855 hasConcept C154945302 @default.
• W3158373855 hasConcept C171268870 @default.
• W3158373855 hasConcept C177264268 @default.
• W3158373855 hasConcept C199360897 @default.
• W3158373855 hasConcept C19966478 @default.
• W3158373855 hasConcept C2524010 @default.
• W3158373855 hasConcept C2776151529 @default.
• W3158373855 hasConcept C2781238097 @default.
• W3158373855 hasConcept C28719098 @default.
• W3158373855 hasConcept C31972630 @default.
• W3158373855 hasConcept C33923547 @default.
• W3158373855 hasConcept C41008148 @default.
• W3158373855 hasConcept C43521106 @default.
• W3158373855 hasConcept C45235069 @default.
• W3158373855 hasConcept C52102323 @default.
• W3158373855 hasConcept C67953723 @default.
• W3158373855 hasConcept C81363708 @default.
• W3158373855 hasConcept C90509273 @default.
• W3158373855 hasConceptScore W3158373855C111919701 @default.
• W3158373855 hasConceptScore W3158373855C124101348 @default.
• W3158373855 hasConceptScore W3158373855C131979681 @default.
• W3158373855 hasConceptScore W3158373855C153180895 @default.
• W3158373855 hasConceptScore W3158373855C154945302 @default.
• W3158373855 hasConceptScore W3158373855C171268870 @default.
• W3158373855 hasConceptScore W3158373855C177264268 @default.
• W3158373855 hasConceptScore W3158373855C199360897 @default.
• W3158373855 hasConceptScore W3158373855C19966478 @default.
• W3158373855 hasConceptScore W3158373855C2524010 @default.
• W3158373855 hasConceptScore W3158373855C2776151529 @default.
• W3158373855 hasConceptScore W3158373855C2781238097 @default.
• W3158373855 hasConceptScore W3158373855C28719098 @default.
• W3158373855 hasConceptScore W3158373855C31972630 @default.
• W3158373855 hasConceptScore W3158373855C33923547 @default.
• W3158373855 hasConceptScore W3158373855C41008148 @default.
• W3158373855 hasConceptScore W3158373855C43521106 @default.
• W3158373855 hasConceptScore W3158373855C45235069 @default.
• W3158373855 hasConceptScore W3158373855C52102323 @default.
• W3158373855 hasConceptScore W3158373855C67953723 @default.
• W3158373855 hasConceptScore W3158373855C81363708 @default.
• W3158373855 hasConceptScore W3158373855C90509273 @default.
• W3158373855 hasLocation W31583738551 @default.
• W3158373855 hasOpenAccess W3158373855 @default.
• W3158373855 hasPrimaryLocation W31583738551 @default.
• W3158373855 hasRelatedWork W134288347 @default.
• W3158373855 hasRelatedWork W155079822 @default.
• W3158373855 hasRelatedWork W2076971760 @default.
• W3158373855 hasRelatedWork W2280111819 @default.
• W3158373855 hasRelatedWork W2345517266 @default.
• W3158373855 hasRelatedWork W2626073992 @default.
• W3158373855 hasRelatedWork W2730075972 @default.
• W3158373855 hasRelatedWork W2891708887 @default.
• W3158373855 hasRelatedWork W2903111259 @default.
• W3158373855 hasRelatedWork W3004073524 @default.
• W3158373855 hasRelatedWork W3004630325 @default.
• W3158373855 hasRelatedWork W3049279312 @default.
• W3158373855 hasRelatedWork W3089045049 @default.
• W3158373855 hasRelatedWork W3090674917 @default.
• W3158373855 hasRelatedWork W3092822745 @default.
• W3158373855 hasRelatedWork W3115727442 @default.
• W3158373855 hasRelatedWork W3126923786 @default.
• W3158373855 hasRelatedWork W3130171631 @default.
• W3158373855 hasRelatedWork W3153366471 @default.
• W3158373855 hasRelatedWork W3084396004 @default.
• W3158373855 hasVolume "48" @default.
• W3158373855 isParatext "false" @default.
• W3158373855 isRetracted "false" @default.
• W3158373855 magId "3158373855" @default.
• W3158373855 workType "article" @default.