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: 1A1-N06
会議情報
1A1-N06 双腕ロボットのための払い動作を含む物体把持動作生成(ホーム&オフィスロボット)
近嵐 公太三浦 三浦
著者情報
会議録・要旨集 フリー

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抄録
In this research, we develop a robot system that can find and pick up a specific object from a pile of objects with a grasp planning including sweeping motion thereby decreasing a necessary number of operations. We use local visual features for recognition and pose estimation of a target object to cope with partial occlusions. Pose estimation of unknown objects are also necessary for handling them. We obtain point cloud data by an RGB-D camera (KINECT) mounted on the robot head, and extract object surfaces by Euclidean clustering, plane detection, and normal estimation. The robot adaptively chooses grasp or sweep actions depending on the placement of the target objects and others. We implemented the proposed method on a dual-arm robot and applied it to the task of find a target object in a cluttered container. We confirmed that introducing sweep motions can effectively reduce the time to achieve the task.
著者関連情報
© 2014 一般社団法人 日本機械学会
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