COLLABORATIVE RESEARCH: NRI: MULTIMODAL SENSORS GUIDED ROBOTIC CHICKEN GRASPING AND REHANGING FOR INTEGRATED AND AUTONOMOUS POULTRY PROCESSING

The specific objectives of this proposal include:1) Customize a low-cost high-density tactile sensor array embedded gripper for perceiving the geometrical and surface texture information of the chicken samples and realizing adaptive and robust chicken grasping.2) Develop a high-resolution and high-speed 3D imaging system through an offline-online co-design strategy, and determine robotic chicken grasping postures by intelligent image analysis algorithms.3) Fuse the tactile (force on robotic gripper) and visual information (shackle motion and location) to determine the optimal moving path of dual robotic arms and adjust the gripper's control parameters to reliably hang the chicken onto the moving hanging shackles.4) Integrate the robotic system into a real-world pilot chicken processing plant