Vision-Based Intelligent Perceiving and Planning System of a 7-DoF Collaborative Robot

Table 7

Results of IPPS experiments with objects and combinations in the real environment.

Target object	Attempt 1	Attempt 2	Attempt 3	Attempt 4	Attempt 5
Noodle box	✓	✓	✓	✓	✓
Coke bottle	✓	✓	✓	✓	✓
Metal can	✓	✓	✓	✓	✓
Chips box	✓	✓	✓	✓	✓
Tea cup	✓	✓	✓	✓	✗
Coffee bag	✓	✗	✓	✓	✓
Apple	✓	✓	✓	✓	✓
Banana	✓	✓	✓	✓	✓
Mouse	✓	✓	✓	✗	✓
Stapler	✓	✓	✓	✓	✓
Tape	✓	✓	✗	✗	✓
Hammer	✗	✓	✓	✓	✗
Bowl	✓	✓	✓	✓	✓
Tissue	✓	✗	✓	✓	✓
Unknown box	✓	✓	✓	✓	✓
Unknown bottle	✓	✓	✓	✓	✓
Unknown bag	✓	✓	✗	✓	✓
Combination 1	✓	✗	✓	✓	✓
Combination 2	✗	✓	✓	✓	✓
Combination 3	✗	✓	✗	✓	✓