Deep learning-based object understanding for robotic manipulation

Jong Sul Moon, Hyunjun Jo, Jae Bok Song

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Manipulation of objects by a robot arm requires an understanding of the various properties of the object. The robot needs a lot of information for object manipulation, there are few algorithms to estimate such information simultaneously. In this study, we propose an object understanding network (OUNet) based on deep learning that simultaneously estimates three key properties for robot object manipulation: object state, contact position for object manipulation, and manipulation type. The object state means whether an openable object is open or closed. The contact position and manipulation type for manipulating objects means where and what the robot should do to change the object state. Usingthis information, it is expected that the robot will be able to select the appropriate manipulation for the current situation of the given object. Experiments were conducted to verify the performance of the OUNet, and it was shown that three key properties can be successfully detected.

    Original languageEnglish
    Title of host publication2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
    PublisherIEEE Computer Society
    Pages1-5
    Number of pages5
    ISBN (Electronic)9788993215205
    DOIs
    Publication statusPublished - 2020 Oct 13
    Event20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of
    Duration: 2020 Oct 132020 Oct 16

    Publication series

    NameInternational Conference on Control, Automation and Systems
    Volume2020-October
    ISSN (Print)1598-7833

    Conference

    Conference20th International Conference on Control, Automation and Systems, ICCAS 2020
    Country/TerritoryKorea, Republic of
    CityBusan
    Period20/10/1320/10/16

    Bibliographical note

    Funding Information:
    This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20008613)

    Publisher Copyright:
    © 2020 Institute of Control, Robotics, and Systems - ICROS.

    Keywords

    • Clustering
    • Deep learning
    • Manipulation
    • Object understanding

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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