抄録
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.
