Basic principles for the development of an application to bi-manipulate boxes with a humanoid robot

Basic principles for the development of an application to bi-manipulate boxes with a humanoid robot

J. Hernandez-Vicen, S. Martinez, C. Balaguer

Logistics is a sector which is continuously growing, due to globalization, as well as the current situation caused by the Covid. In this article, an application to recognize boxes is described. The characteristics are extracted with the goal of identify the opening side of the box by using computer vision techniques. This goal has been achieved considering the dimensions, as well as, the position in the space of the box. Those characteristics were obtained processing 2D and 3D images. Then, this information has been classified by using a decision tree based on the human knowledge. The probability of each of the six faces to be the opening side is obtained. This article is a base to develop in the future an application in which the humanoid robot TEO is capable to learn the optimal way to find the opening of boxes and bimanipulate them to be opened in an automated system.

2021

Clasificación, visión por computador, Corrección errores, robot humanoide

10.4995/riai.2020.13097

Revista Iberoamericana de Automática e Informática Industrial RIAI

Universitat Politecnica de Valencia

Control engineering systems. Automatic machinery (General)