摘要：AbstractThis work presents a methodology for autonomous manipulation of valves using a dual-arm robot and the visual sensing provided by cameras mounted on the head and each robot arm. A novel image-based identification and pose estimation method is devised to determine the valve to be manipulated as well as to estimate its position and orientation with respect to the robot base. The valve pose is used in the positioning and alignment of the robot end effector enabling the manipulation task to be carried out autonomously. Experimental results, obtained with a BaxterTM robot performing valve turning tasks, illustrate the feasibility of the proposed methodology. The main objective of this work is to provide capabilities to develop new solutions and innovative technologies to deal with the challenge of manipulating valves autonomously in poorly structured and harsh environments
