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Robot-human-learning for robotic picking processes
Citation Link: https://doi.org/10.15480/882.2466
Publikationstyp
Conference Paper
Date Issued
2019-09-26
Sprache
English
Author(s)
TORE-DOI
TORE-URI
First published in
Number in series
27
Start Page
87
End Page
114
Citation
Hamburg International Conference of Logistics (HICL) 27: 87-114 (2019)
Contribution to Conference
Publisher
epubli GmbH
Purpose: This research paper aims to create an environment which enables robots to learn from humans by algorithms of Computer Vision and Machine Learning for object detection and gripping. The proposed concept transforms manual picking to highly automated picking performed by robots. Methodology: After defining requirements for a robotic picking system, a process model is proposed. This model defines how to extend traditional manual picking and which human-robot-interfaces are necessary to enable learning from humans to improve the performance of robots’ object detection and gripping. Findings: The proposed concept needs a pool of images to train an initial setup of a convolutional neural network by the YOLO-Algorithm. Therefore, a station with two cameras and a flexible positioning system for image creation is presented by which the necessary number of images can be generated with little effort. Originality: A digital representation of an object is created based on the generated images of this station. The original idea is a feedback loop including human workers after a not successful object detection or gripping which enables robots in service to extend their ability to recognize and pick objects.
Subjects
Picking robots
Machine learning
Object detection
Computer vision
Human-robot-collaboration
DDC Class
004: Informatik
330: Wirtschaft
380: Handel, Kommunikation, Verkehr
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Rieder_Verbeet-Robot-Human-Learning_for_Robotic_Picking_Processes_hicl_2019.pdf
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Format
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