抄録
In this paper, the method of recognition for unknown object using color range sensor and grasp planning using object configuration in tidying task by humanoid are presented. Key features are: (1) Taking 3-D color point cloud from color range sensor and segmentation 3-D color point cloud estimating support plane (2) extraction graspable cylinder shape from 3-D color point cloud (3) grasp planning using graspable cylinder shape considering approach direction. Finally, we demonstrated tidying behavior by humanoid using there methods.
