The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 1A2-H02
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1A2-H02 Object Plaement Planner for Robotic Hands(Robot Hand Mechanism and Grasping Strategy(2))
Kensuke HARADATokuo TsujiKazuyuki NAGATANatsuki YAMANOBEHiromu ONDATakashi YOSHIMIYoshihiro KAWAI
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Abstract
This paper proposes an object placement planner for a grasped object during a pick-and-place task. The proposed planner automatically determines the pose of the stably placed object near a user assigned point on an environment surface. The proposed method first clusterize the polygon model of both the environment and the object where each cluster is approximated by a planar region. The placement of the object can be determined by selecting a pair of clusters between the object and the environment. We further impose several conditions to determine the pose of the object placed on the environment. We show that we can determine the position/orientation of the object placed on the environment for several cases such as hanging a mug cup on a bar.
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© 2012 The Japan Society of Mechanical Engineers
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