Object Recognition and Planning of Ring-type Caging for Scissors

抄録

This paper studies retrieving geometrical features of objects with hollows and motion planning of caging constraint for such objects. To achieve caging a ring-like object, position of hollow parts is essential information, which can be acquired by vision system. With basic image processing methods, we can detect the features and posture of scissors, which has hollows on its handle. Motion planning for caging a pair of scissors can be successfully achieved within reasonable computing time.