Research/ ORBITAL ROBOTICS
Integration of Vision-based Object Detection and Grasping for Articulated Manipulator in Lunar Conditions
Camille Boucher, Gustavo H. Diaz, Shreya Santra, Kentaro Uno, and Kazuya Yoshida
Manipulation & GraspingOpenAlex topic: Robot Manipulation and Learning · Perception & State EstimationOpenAlex keyword: object detection · Learning-based MethodsOpenAlex topic: Advanced Neural Network Applications
arXivcs.RO · cs.AIOpenAlexRobot Manipulation and Learning · Advanced Neural Network Applications · Space Satellite Systems and Control
The integration of vision-based frameworks to achieve lunar robot applications faces numerous challenges such as terrain configuration or extreme lighting conditions. This paper presents a generic task pipeline using object detection, instance segmentation and grasp detection, that can be used for various applications by using the results of these vision-based systems in a different way. We achieve a rock stacking task on a non-flat surface in difficult lighting conditions with a very good success rate of 92%. Eventually, we present an experiment to assemble 3D printed robot components to initiate more complex tasks in the future.