University of Illinois Urbana-Champaign

Autonomous object model acquisition with parallel jaw gripper

Colthurst, Victoria Ruth

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https://hdl.handle.net/2142/120333

Description

Title
Autonomous object model acquisition with parallel jaw gripper
Author(s)
Colthurst, Victoria Ruth
Issue Date
2023-01-23
Director of Research (if dissertation) or Advisor (if thesis)
Kim, Joohyung
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
  • robotics
  • robot
  • robots
  • 3d
  • three
  • dimensions
  • autonomous
  • object
  • model
  • acquisition
  • gripper
  • grasp
  • grasping
  • geometric
  • grasps
  • geometry-based
  • geometry
  • registration
  • point
  • cloud
  • clouds
  • reconstruction
  • cluttered
  • rotation
  • papras
  • plug
  • robotic
  • depth
  • scan
  • scans
Abstract
Granting robots the ability to identify and interact with any object in a cluttered, real-world environment requires solutions that tackle partial visibility and object novelty. Humans overcome this challenge with experience, which we emulate by developing a method to build a database of known 3D object models over time. We present an autonomous object registration pipeline deployed on a self-contained camera and robotic arm hardware system that produces 3D object point clouds. Experimentation evaluates the quantitative and qualitative aspects of the produced point clouds, and we show that our methods produce representations comparable with state-of-the-art methods. It is our hope that the solution presented in this thesis will aid in perception-based tasks that require identifying and interacting with objects in an unstructured environment.
Graduation Semester
2023-05
Type of Resource
Thesis
Copyright and License Information
Copyright 2023 Victoria Colthurst

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