Manipulación visual-táctil para la recogida de residuos domésticos en exteriores

  1. Castaño-Amorós, Julio 1
  2. Páez-Ubieta, Ignacio de Loyola 1
  3. Gil, Pablo 2
  4. Puente, Santiago Timoteo 2
  1. 1 Universidad de Alicante ; Universidad Miguel Hernández
  2. 2 Universitat d'Alacant
    info

    Universitat d'Alacant

    Alicante, España

    ROR https://ror.org/05t8bcz72

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2023

Volumen: 20

Número: 2

Páginas: 163-174

Tipo: Artículo

DOI: 10.4995/RIAI.2022.18534 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resumen

Este artículo presenta un sistema de percepcion orientado a la manipulación robótica, capaz de asistir en tareas de navegación, clasificacion y recogida de residuos domésticos en exterior. El sistema está compuesto de sensores táctiles ópticos, cámaras RGBD y un LiDAR. Estos se integran en una plataforma móvil que transporta un robot manipulador con pinza. El sistema consta de tres modulos software, dos visuales y uno táctil. Los módulos visuales implementan arquitecturas CNNs para la localización y reconocimiento de residuos sólidos, además de estimar puntos de agarre. El módulo táctil, también basado en CNNs y procesamiento de imagen, regula la apertura de la pinza para controlar el agarre a partir de informacion de contacto. Nuestra propuesta tiene errores de localizacion entorno al 6 %, una precisión de reconocimiento del 98 %, y garantiza estabilidad de agarre el 91 % de las veces. Los tres modulos trabajan en tiempos inferiores a los 750 ms.

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Fuente de los datos: Dialnet