エラーリカバリのためのインハンド把持姿勢推定

抄録

In this paper, we propose a method to estimate the pose of an object grasped by a robot hand. Focusing on object manipulation tasks, we aim to prevent the manipulation tasks from failing because of the wrong pose of the object grasped by robot hand. To estimate the pose of an object, we compare the simulation and the real-world experimental data obtained by using RGB hand cameras attached at the wrist and a vision tactile sensor (using RGB camera) attached at the fingertip. We were able to estimate the object pose in the robot hand with accuracy of 55%.