AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks

Raimund Edlinger; Christoph Föls; Ulrich Mitterhuber; Andreas Nüchter

doi:10.1109/SSRR56537.2022.10018759

AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks

Raimund Edlinger
, Christoph Föls
, Ulrich Mitterhuber
, Andreas Nüchter

Publikation: Beitrag in Buch/Bericht/Tagungsband › Konferenzbeitrag › Begutachtung

Abstract

Dexterous mobile manipulators that are capable of performing a wide array of tasks are essential for unstructured human-centered environments. Especially in rescue scenarios where time and resources are limited, a gripping system should be as versatile but at the same time as efficient as possible. In addition, situational awareness in accidents and impaired visibility is essential for safely performing missions or automating behaviors, and thus supporting operators. The main contribution of this work is a multi-functional gripping system with technologies and methods for manipulation in rescue and recovery operations as well as for handling hazardous materials. The gripping system is supplemented by an RGB and thermal camera and object detection algorithms, which run in real-time on an embedded device for robust recognition in harsh and dynamic environments.
The proposed multi-functional gripping system has been thoroughly evaluated and tested in laboratory experiments and real field facilities.

Originalsprache	Englisch
Titel	SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics
Erscheinungsort	Sevilla
Herausgeber (Verlag)	IEEE
Seiten	145-152
Seitenumfang	8
ISBN (elektronisch)	9781665456807
DOIs	https://doi.org/10.1109/SSRR56537.2022.10018759
Publikationsstatus	Veröffentlicht - 8 Nov. 2022
Veranstaltung	2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) - Seville, Seville, Spanien Dauer: 8 Nov. 2022 → 10 Nov. 2022 https://www.ssrr2022.org/index.html

Publikationsreihe

Name	SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics

Konferenz

Konferenz	2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Land/Gebiet	Spanien
Ort	Seville
Zeitraum	08.11.2022 → 10.11.2022
Internetadresse	https://www.ssrr2022.org/index.html

UN SDGs

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SDG 9 – Industrie, Innovation und Infrastruktur

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Link zur Publikation in Scopus

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Edlinger, R., Föls, C., Mitterhuber, U., & Nüchter, A. (2022). AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks. in SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics (S. 145-152). (SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics). IEEE. https://doi.org/10.1109/SSRR56537.2022.10018759

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title = "AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks",

abstract = "Dexterous mobile manipulators that are capable of performing a wide array of tasks are essential for unstructured human-centered environments. Especially in rescue scenarios where time and resources are limited, a gripping system should be as versatile but at the same time as efficient as possible. In addition, situational awareness in accidents and impaired visibility is essential for safely performing missions or automating behaviors, and thus supporting operators. The main contribution of this work is a multi-functional gripping system with technologies and methods for manipulation in rescue and recovery operations as well as for handling hazardous materials. The gripping system is supplemented by an RGB and thermal camera and object detection algorithms, which run in real-time on an embedded device for robust recognition in harsh and dynamic environments. The proposed multi-functional gripping system has been thoroughly evaluated and tested in laboratory experiments and real field facilities.",

keywords = "AI, mobile manipulation, dexterous manipulation, Search and Rescue Robotics, Sensor data acquisition",

author = "Raimund Edlinger and Christoph F{\"o}ls and Ulrich Mitterhuber and Andreas N{\"u}chter",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) ; Conference date: 08-11-2022 Through 10-11-2022",

year = "2022",

month = nov,

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doi = "10.1109/SSRR56537.2022.10018759",

language = "English",

series = "SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics",

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Edlinger, R, Föls, C, Mitterhuber, U & Nüchter, A 2022, AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks. in SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics. SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics, IEEE, Sevilla, S. 145-152, 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Seville, Spanien, 08.11.2022. https://doi.org/10.1109/SSRR56537.2022.10018759

AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks. / Edlinger, Raimund; Föls, Christoph; Mitterhuber, Ulrich et al.
SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics. Sevilla: IEEE, 2022. S. 145-152 (SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics).

Publikation: Beitrag in Buch/Bericht/Tagungsband › Konferenzbeitrag › Begutachtung

TY - GEN

T1 - AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks

AU - Edlinger, Raimund

AU - Föls, Christoph

AU - Mitterhuber, Ulrich

AU - Nüchter, Andreas

PY - 2022/11/8

Y1 - 2022/11/8

N2 - Dexterous mobile manipulators that are capable of performing a wide array of tasks are essential for unstructured human-centered environments. Especially in rescue scenarios where time and resources are limited, a gripping system should be as versatile but at the same time as efficient as possible. In addition, situational awareness in accidents and impaired visibility is essential for safely performing missions or automating behaviors, and thus supporting operators. The main contribution of this work is a multi-functional gripping system with technologies and methods for manipulation in rescue and recovery operations as well as for handling hazardous materials. The gripping system is supplemented by an RGB and thermal camera and object detection algorithms, which run in real-time on an embedded device for robust recognition in harsh and dynamic environments. The proposed multi-functional gripping system has been thoroughly evaluated and tested in laboratory experiments and real field facilities.

AB - Dexterous mobile manipulators that are capable of performing a wide array of tasks are essential for unstructured human-centered environments. Especially in rescue scenarios where time and resources are limited, a gripping system should be as versatile but at the same time as efficient as possible. In addition, situational awareness in accidents and impaired visibility is essential for safely performing missions or automating behaviors, and thus supporting operators. The main contribution of this work is a multi-functional gripping system with technologies and methods for manipulation in rescue and recovery operations as well as for handling hazardous materials. The gripping system is supplemented by an RGB and thermal camera and object detection algorithms, which run in real-time on an embedded device for robust recognition in harsh and dynamic environments. The proposed multi-functional gripping system has been thoroughly evaluated and tested in laboratory experiments and real field facilities.

KW - AI

KW - mobile manipulation

KW - dexterous manipulation

KW - Search and Rescue Robotics

KW - Sensor data acquisition

UR - https://www.scopus.com/pages/publications/85147548203

U2 - 10.1109/SSRR56537.2022.10018759

DO - 10.1109/SSRR56537.2022.10018759

M3 - Conference contribution

T3 - SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics

SP - 145

EP - 152

BT - SSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics

PB - IEEE

CY - Sevilla

T2 - 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

Y2 - 8 November 2022 through 10 November 2022

ER -

AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks

Abstract

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