References & Citations
Computer Science > Robotics
Title: Vision-based robot manipulation of transparent liquid containers in a laboratory setting
(Submitted on 25 Apr 2024)
Abstract: Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work, we develop a flexible and cost-effective approach to address this gap by introducing a vision-based system for liquid volume estimation and a simulation-driven pouring method particularly designed for containers with small openings. We evaluate both components individually, followed by an applied real-world integration of cell culture automation using a UR5 robotic arm. Our work is fully reproducible: we share our code at at \url{this https URL} and the newly introduced dataset LabLiquidVolume is available at this https URL
Submission history
From: Ronja Güldenring [view email][v1] Thu, 25 Apr 2024 11:42:32 GMT (19314kb,D)
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