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Analysis of institutional authors

Ferre Pérez MAuthor

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June 19, 2023
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(MARGOT) Monocular Camera-Based Robot Grasping Strategy for Metallic Objects

Publicated to: SENSORS. 23 (11): 5344- - 2023-06-05 23(11), DOI: 10.3390/s23115344

Authors:

Almagro, CV; Orrego, RAM; González, AG; Matheson, E; Prades, RM; Di Castro, M; PéTrez, MF
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Affiliations

European Org Nucl Res CERN, BE CEM Beams Dept, Elect & Mechatron Grp, CH-1217 Geneva, Switzerland - Author
European Organization for Nuclear Research - Author
European Organization for Nuclear Research , Universidad Jaume I - Author
Jaume I Univ Castellon, Interact Robot Syst Lab, Castellon De La Plana 12006, Spain - Author
Univ Politecn Madrid, Ctr Automat & Robot CAR UPM CSIC, Madrid 28006, Spain - Author
Universidad Jaume I - Author
Universidad Politécnica de Madrid - Author
Universidad Politécnica de Madrid , European Organization for Nuclear Research - Author
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Abstract

Robotic handling of objects is not always a trivial assignment, even in teleoperation where, in most cases, this might lead to stressful labor for operators. To reduce the task difficulty, supervised motions could be performed in safe scenarios to reduce the workload in these non-critical steps by using machine learning and computer vision techniques. This paper describes a novel grasping strategy based on a groundbreaking geometrical analysis which extracts diametrically opposite points taking into account surface smoothing (even those target objects that might conform highly complex shapes) to guarantee the uniformity of the grasping. It uses a monocular camera, as we are often facing space restrictions that generate the need to use laparoscopic cameras integrated in the tools, to recognize and isolate targets from the background, estimating their spatial coordinates and providing the best possible stable grasping points for both feature and featureless objects. It copes with reflections and shadows produced by light sources (which require extra effort to extract their geometrical properties) in unstructured facilities such as nuclear power plants or particle accelerators on scientific equipment. Based on the experimental results, utilizing a specialized dataset improved the detection of metallic objects in low-contrast environments, resulting in the successful application of the algorithm with error rates in the scale of millimeters in the majority of repeatability and accuracy tests.
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Keywords

grasping determinationteleroboticsAlgorithmsComputer visionGrasping determinationHand strengthRoboticsTeleroboticsVision

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal SENSORS due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2023, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Instrumentation.

Independientemente del impacto esperado determinado por el canal de difusión, es importante destacar el impacto real observado de la propia aportación.

Según las diferentes agencias de indexación, el número de citas acumuladas por esta publicación hasta la fecha 2026-04-27:

  • WoS: 2
  • Scopus: 3
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Impact and social visibility

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/85065/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 175
  • Downloads: 32
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Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Switzerland.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: Last Author (FERRE PEREZ, MANUEL).

the author responsible for correspondence tasks has been Muñoz Orrego RA.

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