抄録
This paper proposes an object placement planner for a grasped object during pick-and-place tasks. The proposed planner automatically determines the pose of an object stably placed near a user assigned point on the surface of an environment. The proposed method first clusters the polygon model of both an environment and an object where each cluster is approximated by a planar region. The position/orientation of the object placed on the environment can be determined by selecting a pair of clusters from the object and the environment. We further impose several tests to determine the position/orientation of the object such as the convexity test, the cluster inclusion test and the stability test. We show that we can determine the position/orientation of the object for a pick-and-place task where the environment model is obtained from the captured point cloud.
