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Object-retrieving Autonomous Robotic Arm

Samantha Luber
Samantha Luber

Poster for our presentation on our Autonomous Robotic Arm that detects objects with an overhead camera, uses motion planning and reverse kinematics to retrieve objects, and places the objects in a bin. This project was done as part of the EECS 498 Autonomous Robotics Lab at the University of Michigan.

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Autonomous Object Retrieval with a Robotic Arm! ! Samantha Luber, Zach Oligschlaeger, John Scheible! Abstract! Block Detection! Through incorporating various ≒ Uses a Union Find algorithm object detection algorithms on to build up pixel blobs of the images from an overhead same color! camera, we are able to ef鍖ciently ≒ Determines blobs within a track balls and blocks in the color and size threshold to be robotic arms search space. By blocks! applying a planning algorithm, ≒ Calculates block orientation the robotic arm is able to retrieve with respect to the arm! reachable objects and move them to the collection bin. ! Ball Detection! Planning! ≒ Optimized template matching ≒ Detects reachable objects! algorithm scans through ≒ Calculates movement images from overhead camera! required by each joint needed ≒ Searches for balls using a to reach object and plans joint stored yellow ball image as the movement to avoid collisions! template! ≒ Detects if the object was missed and re-attempts Arm Communication! retrieval if necessary! ≒ Moves object to static goal ≒ LCM message passing by subscribing and location! posting movement commands to each servos channel!

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Object-retrieving Autonomous Robotic Arm

  • 1. Autonomous Object Retrieval with a Robotic Arm! ! Samantha Luber, Zach Oligschlaeger, John Scheible! Abstract! Block Detection! Through incorporating various ≒ Uses a Union Find algorithm object detection algorithms on to build up pixel blobs of the images from an overhead same color! camera, we are able to ef鍖ciently ≒ Determines blobs within a track balls and blocks in the color and size threshold to be robotic arms search space. By blocks! applying a planning algorithm, ≒ Calculates block orientation the robotic arm is able to retrieve with respect to the arm! reachable objects and move them to the collection bin. ! Ball Detection! Planning! ≒ Optimized template matching ≒ Detects reachable objects! algorithm scans through ≒ Calculates movement images from overhead camera! required by each joint needed ≒ Searches for balls using a to reach object and plans joint stored yellow ball image as the movement to avoid collisions! template! ≒ Detects if the object was missed and re-attempts Arm Communication! retrieval if necessary! ≒ Moves object to static goal ≒ LCM message passing by subscribing and location! posting movement commands to each servos channel!