论文标题
使用联合任务和运动计划在架子中安排试管
Arranging Test Tubes in Racks Using Combined Task and Motion Planning
论文作者
论文摘要
该论文开发了一种机器人操纵系统，以治疗在临床检查中处理大量测试管的紧迫需求，并替换或减少人工劳动。它介绍了系统的技术细节，该系统在3D Vision和人工智能（AI）推理/计划的帮助下将架子中的测试管分开和安排。开发的系统仅要求一个人在机器人面前放置一个带有混合和非安排的管子的架子。机器人自主执行识别，推理，计划，操纵等，并返回带有分离和布置管的机架。该系统是易于使用的，并且没有要求机器人技术专家知识的请求。我们希望这样的系统在帮助管理公共卫生方面发挥重要作用，并希望将类似的系统扩展到其他临床操作，例如将来处理搅拌机和移液管。
The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which separates and arranges test tubes in racks with the help of 3D vision and artificial intelligence (AI) reasoning/planning. The developed system only requires a person to put a rack with mixed and non-arranged tubes in front of a robot. The robot autonomously performs recognition, reasoning, planning, manipulation, etc., and returns a rack with separated and arranged tubes. The system is simple-to-use, and there are no requests for expert knowledge in robotics. We expect such a system to play an important role in helping managing public health and hope similar systems could be extended to other clinical manipulation like handling mixers and pipettes in the future.
