Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System

Anna Wujek , Tomasz Winiarski

Abstract

Article presents a multisensory robotic system, that is reproducing contour drawings. Initially the system detects a sheet of paper with a reference drawing, determines contours of the drawing, and then draws contour image on a blank sheet of paper. The reproduction conserves features of the original drawing—shapes, location and scale. The system was created with usage of an embodied agent theory. In this article two main parts of a designed system are presented—vision module (virtual receptor) and control subsystem. System is verified on a modified industrial manipulator acting as a service robot with an eye in hand camera and a force/torque sensor mounted in the wrist.
Author Anna Wujek IAiIS
Anna Wujek,,
- The Institute of Control and Computation Engineering
, Tomasz Winiarski IAiIS
Tomasz Winiarski,,
- The Institute of Control and Computation Engineering
Pages423-433
Publication size in sheets0.5
Book Szewczyk Roman, Kaliczyńska Małgorzata, Zieliński Cezary: Challenges in Automation, Robotics and Measurement Techniques. Proceedings of AUTOMATION-2016, March 2-4, 2016, Warsaw, Poland, Advances in Intelligent Systems and Computing, vol. 440, 2016, Springer International Publishing, ISBN 978-3-319-29356-1, [978-3-319-29357-8], 919 p., DOI:10.1007/978-3-319-29357-8
Keywords in EnglishService robot Controller design Sensor fusion
DOIDOI:10.1007/978-3-319-29357-8_38
URL http://link.springer.com/chapter/10.1007/978-3-319-29357-8_38
projectMethodology of design and implementation of multi-sensory robotic systems for service purposes. Project leader: Winiarski Tomasz, , Phone: 7649, 7117, start date 01-02-2013, planned end date 31-01-2016, end date 03-10-2016, 505M/1031/0043, Completed
WEiTI Projects financed by NSC [Projekty finansowane przez NCN]
Languageen angielski
File
Wujek Winiarski 15-automated-drawing-recognition.pdf (file archived - login or check accessibility on faculty) Wujek Winiarski 15-automated-drawing-recognition.pdf 2.17 MB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterSeriesAndMatConf
Citation count*0
Cite
Share Share



* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
Back