AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks

Raimund Edlinger, Christoph Föls, Ulrich Mitterhuber, Andreas Nüchter

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

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.
Original languageEnglish
Title of host publicationSSRR 2022 - IEEE International Symposium on Safety, Security, and Rescue Robotics
Place of PublicationSevilla
PublisherIEEE
Pages145-152
Number of pages8
ISBN (Electronic)9781665456807
DOIs
Publication statusPublished - 8 Nov 2022
Event2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) - Seville, Seville, Spain
Duration: 8 Nov 202210 Nov 2022
https://www.ssrr2022.org/index.html

Publication series

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

Conference

Conference2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Country/TerritorySpain
CitySeville
Period08.11.202210.11.2022
Internet address

Keywords

  • AI
  • mobile manipulation
  • dexterous manipulation
  • Search and Rescue Robotics
  • Sensor data acquisition

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