Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
This paper proposes time-varying Gaussian process implicit surface (TV-GPIS) to estimate the time-varying shape of grasped garbage by a waste crane placed in an Energy-from-Waste plant. TV-GPIS can estimate the time-varying shape by integrating the time-varying Gaussian process and the Gaussian process implicit surface. We first investigated the properties of TV-GPIS for three types of shape transitions in 2D simulation. Then, we present a robotic bucket system we developed equipped with 28 proximity sensors and verified the TV-GPIS’s effectiveness by comparing the volume of estimated shape and grabbed garbage by our bucket.
