sim2realarXiv:2110.09191
視覚と力覚の融合による電気自動車の自動充電システム
Electric Vehicle Automatic Charging System Based on Vision-force Fusion
視覚と力覚を融合したロボットマニピュレーションにより、電気自動車の充電プラグ挿入を自動化するシステムを構築し、シミュレーションから実機へ転移して有効性を示した。
著者: Dashun Guo, Liang Xie, Hongxiang Yu, Yue Wang, Rong Xiong
分類: cs.RO
原文アブストラクト
Electric vehicles are an emerging means of transportation with environmental friendliness. The automatic charging is a hot topic in this field that is full of challenges. We introduce a complete automatic charging system based on vision-force fusion, which includes perception, planning and control for robot manipulations of the system. We design the whole system in simulation and transfer it to the real world. The experimental results prove the effectiveness of our system.
