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: 3P1-I03
会議情報
3P1-I03 局所法線特徴の決定木学習による柔軟物識別と洗濯物搬送行動タスクへの応用(家政学とロボティクス)
稲垣 祐人垣内 洋平岡田 慧稲葉 雅幸
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会議録・要旨集 フリー

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抄録
In daily life, we have a large number of deformable objects. Robot need to handle those things in ohter way unlike undeformable objects, because those will change their shapes easily and it isn't simple to recognize their shapes or structure. Therefore, Robot should recognize whether the target object is deformable or not. In this paper, in order to classify object as deformable or not, we focus on deformable objects' 3d point cloud wrinkles feature. We test some features which are calculated from object surface normal and we found the average of FPFH is the best feature to classify softness of object.
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© 2014 一般社団法人 日本機械学会
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