Goal-oriented grasping in clutter with human-in-the-loop implementation
For people with motor impairment, robotic arms can act as body surrogates to aid with everyday tasks. However, teleoperation of a high-DoF robotic arm using low-DoF controllers is tedious. Even with the integration of autonomous motion planners and grasp planners, the operation is difficult in a clu...
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| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/157999 |
| _version_ | 1811681599191777280 |
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| author | Wang, Yi |
| author2 | Ang Wei Tech |
| author_facet | Ang Wei Tech Wang, Yi |
| author_sort | Wang, Yi |
| collection | NTU |
| description | For people with motor impairment, robotic arms can act as body surrogates to aid with everyday tasks. However, teleoperation of a high-DoF robotic arm using low-DoF controllers is tedious. Even with the integration of autonomous motion planners and grasp planners, the operation is difficult in a cluttered environment.
State-of-the-art works for grasping objects amidst clutter do not work well in practical settings due to errors in perception and scene understanding. In this work, we aim to address these limitations with a Human-In-The-Loop (HITL) approach. We developed an interface which allows human to interrupt and change the operation of the robot if the actions taken by the robot are incorrect. A robot arm was integrated with the interface to develop a complete system for object grasping in clutter. To evaluate the system, experiments were conducted with human subjects.
Results of the experiments showed that the proposed implementation provided a greater sense of control and more robust functionalities as compared to other evaluated approaches. Our system also helped users to retrieve objects in a shorter amount of time. Discussions were made on various insights gained while developing and testing this system and ways for further improvement were suggested. |
| first_indexed | 2024-10-01T03:43:30Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/157999 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:43:30Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1579992023-03-04T20:15:23Z Goal-oriented grasping in clutter with human-in-the-loop implementation Wang, Yi Ang Wei Tech School of Mechanical and Aerospace Engineering Rehabilitation Research Institute of Singapore (RRIS) WTAng@ntu.edu.sg Engineering::Computer science and engineering Engineering::Mechanical engineering For people with motor impairment, robotic arms can act as body surrogates to aid with everyday tasks. However, teleoperation of a high-DoF robotic arm using low-DoF controllers is tedious. Even with the integration of autonomous motion planners and grasp planners, the operation is difficult in a cluttered environment. State-of-the-art works for grasping objects amidst clutter do not work well in practical settings due to errors in perception and scene understanding. In this work, we aim to address these limitations with a Human-In-The-Loop (HITL) approach. We developed an interface which allows human to interrupt and change the operation of the robot if the actions taken by the robot are incorrect. A robot arm was integrated with the interface to develop a complete system for object grasping in clutter. To evaluate the system, experiments were conducted with human subjects. Results of the experiments showed that the proposed implementation provided a greater sense of control and more robust functionalities as compared to other evaluated approaches. Our system also helped users to retrieve objects in a shorter amount of time. Discussions were made on various insights gained while developing and testing this system and ways for further improvement were suggested. Bachelor of Engineering (Mechanical Engineering) 2022-05-26T13:06:32Z 2022-05-26T13:06:32Z 2022 Final Year Project (FYP) Wang, Y. (2022). Goal-oriented grasping in clutter with human-in-the-loop implementation. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/157999 https://hdl.handle.net/10356/157999 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Computer science and engineering Engineering::Mechanical engineering Wang, Yi Goal-oriented grasping in clutter with human-in-the-loop implementation |
| title | Goal-oriented grasping in clutter with human-in-the-loop implementation |
| title_full | Goal-oriented grasping in clutter with human-in-the-loop implementation |
| title_fullStr | Goal-oriented grasping in clutter with human-in-the-loop implementation |
| title_full_unstemmed | Goal-oriented grasping in clutter with human-in-the-loop implementation |
| title_short | Goal-oriented grasping in clutter with human-in-the-loop implementation |
| title_sort | goal oriented grasping in clutter with human in the loop implementation |
| topic | Engineering::Computer science and engineering Engineering::Mechanical engineering |
| url | https://hdl.handle.net/10356/157999 |
| work_keys_str_mv | AT wangyi goalorientedgraspinginclutterwithhumanintheloopimplementation |