The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 2A1-R01
Conference information
2A1-R01 Form Modeling of a String And Recognition Using Distance Sensor
Tomoya SHIRAKAWAKeisuke MUKAITakatyki MATSUNOAkira YANOUMamoru MINAMI
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
The deformable object such as string, cloth or paper, is soft and can change its form easily. It is difficult for a robot to manipulate deformable object, because it needs to deal with various form. The demand is growing in industry and domestic work. On manipulating deformable objects using robot manipulator, it is important to recognize their form. In this research, distance camera is used to get point cloud data of string. In addition, point chain model is adapted to describe form of string. To create point chain model from point cloud data, vector sequence that describes center line of string needs to be made. Therefore string form recognition algorithm is suggested. This algorithm estimates center line of string using surface normal vectors evaluated by normal estimation algorithm, and creates point chain model by matching method. In addition, experiment to evaluate the effectiveness of this method is conducted.
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© 2015 The Japan Society of Mechanical Engineers
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