ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A2-H02
会議情報
1A2-H02 ロボットハンドによるObject Placement Planner(ロボットハンドの機構と把持戦略(2))
原田 研介辻 徳生永田 和之山野辺 夏樹音田 弘吉見 隆河井 良浩
著者情報
会議録・要旨集 フリー

詳細
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.
著者関連情報
© 2012 一般社団法人 日本機械学会
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