Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this paper, we propose a sliding motion planning using uncertain 3D shape information with a Gaussian Process Implicit Surface (GPIS). A GPIS model represents the shape and its uncertainty of object firstly introduces how to judge unevenness using a GPIS model. Then, a sliding motion planning method that takes the convexity and concavity of the local surface into account is presented. Finally, we conduct verification experiments for the target trajectory in consideration of the uncertainty of the object by physical simulation and confirm the effectiveness of our proposed method.
