Robotic Grasp Detection Network Based on Improved Deformable Convolution and Spatial Feature Center Mechanism.
Biomimetics (Basel)
; 8(5)2023 Sep 01.
Article
em En
| MEDLINE
| ID: mdl-37754154
ABSTRACT
In this article, we propose an effective grasp detection network based on an improved deformable convolution and spatial feature center mechanism (DCSFC-Grasp) to precisely grasp unidentified objects. DCSFC-Grasp includes three key procedures as follows. First, improved deformable convolution is introduced to adaptively adjust receptive fields for multiscale feature information extraction. Then, an efficient spatial feature center (SFC) layer is explored to capture the global remote dependencies through a lightweight multilayer perceptron (MLP) architecture. Furthermore, a learnable feature center (LFC) mechanism is reported to gather local regional features and preserve the local corner region. Finally, a lightweight CARAFE operator is developed to upsample the features. Experimental results show that DCSFC-Grasp achieves a high accuracy (99.3% and 96.1% for the Cornell and Jacquard grasp datasets, respectively) and even outperforms the existing state-of-the-art grasp detection models. The results of real-world experiments on the six-DoF Realman RM65 robotic arm further demonstrate that our DCSFC-Grasp is effective and robust for the grasping of unknown targets.
Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Tipo de estudo:
Diagnostic_studies
Idioma:
En
Revista:
Biomimetics (Basel)
Ano de publicação:
2023
Tipo de documento:
Article
País de afiliação:
China