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This letter proposes a bionic robot controller equipped with intelligent perception and autonomous planning modules to address the manufacturing industry's requirements for small-batch, customized, and autonomous task. Three crucial components: motion control module, vision perception module, and autonomous planning module are integrated into the controller based on the ROS framework and ECI platform. Taking multi-object rearrangement problem as an example, a dual-robot collaborative system is established for validation of the controller. The controller deploys the YOLOv5OBB network for object recognition and localization. Leveraging the task sequence planning and RRT-Growth-Angle algorithm improved in this letter, it autonomously plans collision-free trajectories for the robots, facilitating their movement from the starting point to the grasping position and further to the placement location. The motion control algorithm collaboratively controls dual-robot, ensuring the precise and stable rearrangement of multiple objects into predefined positions. The results affirm that the bionic robot controller effectively mimics the three essential components of human-like functionality—perceiving, pondering, and acting—enabling it to autonomously and intelligently tackle complex tasks, which verifies the viability of the method.
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Yahui Gan
Bo Zhang
Jiawei Shao
IEEE Robotics and Automation Letters
Southeast University
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Gan et al. (Mon,) studied this question.
www.synapsesocial.com/papers/68e73771b6db6435876b154d — DOI: https://doi.org/10.1109/lra.2024.3377559