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Tabletop Pen Manipulation With a Vision-Guided 4-DoF Arm — arXiv:2608.15968

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.15968
License (as archived): CC0-1.0
Archived: 2026-10-18T23:05:56.956Z
SHA-256 of the archived text: e0e2b83ddb98a9211d64eba7b2ffe779303d5d45c7f698a27d828efd425da82d
Stable URL of this page: https://metraipolis.com/documento/dc_e267cb115ecf

How to cite

Tabletop Pen Manipulation With a Vision-Guided 4-DoF Arm — arXiv:2608.15968 — arXiv (en), https://arxiv.org/abs/2608.15968 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_e267cb115ecf (Metraipolis archive dc_e267cb115ecf, sha256 e0e2b83ddb98a9211d64eba7b2ffe779303d5d45c7f698a27d828efd425da82d)

BibTeX

@misc{dce267cb115ecf,
  title = {Tabletop Pen Manipulation With a Vision-Guided 4-DoF Arm — arXiv:2608.15968},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.15968},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_e267cb115ecf; sha256 e0e2b83ddb98a9211d64eba7b2ffe779303d5d45c7f698a27d828efd425da82d},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.15968. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Low-cost four-degree-of-freedom (DoF) arms are among the most accessible robotic platforms. But they are, in theory, underactuated for picking up in situations where objects are at arbitrary orientations, a task that appears to require five degrees of freedom: the planar position (x and y), the height (z), a wrist rotation to align the gripper with the object, and gripper actuation, of which a four-DoF arm lacks the wrist rotation. This work shows that perception and motion planning can enable such an arm, a roughly $200 Waveshare RoArm-M2-S, under a fixed overhead camera to detect and color-sort writing utensils without that joint. A YOLO11n-OBB (You Only Look Once, oriented bounding box) detector locates each writing utensil; camera intrinsics and an ArUco reference pose convert its pixel coordinates to robot coordinates; and a color classifier labels it. The detected orientation angle determines the motion strategy: utensils close to the arm's fixed approach direction are picked up directly, and those at steeper angles are reoriented via corrective sweeps until they are graspable, after which they are picked up and sorted into the assigned color bin. Across 326 logged motions on seven writing utensils, the arm made 196 direct grasps and 130 corrective sweep passes, correcting misalignments up to 90 degrees, suggesting that clever task-informed engineering can compensate for a missing degree of freedom on tasks like this one.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-18 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.15968 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-18T23:01:50.371Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-18?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).