A grasp planning for picking up an unknown object for a mobile manipulator

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Citations (Scopus)

Abstract

This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this approach, the robot can manipulate an unknown object autonomously. A grasp planning proposed in this paper can find a stable grasp pose from the automatically generated model which contains redundant data and the shape error of the object. Experiments show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2143-2149
Number of pages7
Volume2006
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL
Duration: 2006 May 152006 May 19

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CityOrlando, FL
Period06/5/1506/5/19

Fingerprint

Manipulators
Planning
Robots
Mobile robots
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Yamazaki, K., Tomono, M., Tsubouchi, T., & Yuta, S. (2006). A grasp planning for picking up an unknown object for a mobile manipulator. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 2143-2149). [1642021] https://doi.org/10.1109/ROBOT.2006.1642021

A grasp planning for picking up an unknown object for a mobile manipulator. / Yamazaki, Kimitoshi; Tomono, Masahiro; Tsubouchi, Takashi; Yuta, Shinichi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 2143-2149 1642021.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yamazaki, K, Tomono, M, Tsubouchi, T & Yuta, S 2006, A grasp planning for picking up an unknown object for a mobile manipulator. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1642021, pp. 2143-2149, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1642021
Yamazaki K, Tomono M, Tsubouchi T, Yuta S. A grasp planning for picking up an unknown object for a mobile manipulator. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 2143-2149. 1642021 https://doi.org/10.1109/ROBOT.2006.1642021
Yamazaki, Kimitoshi ; Tomono, Masahiro ; Tsubouchi, Takashi ; Yuta, Shinichi. / A grasp planning for picking up an unknown object for a mobile manipulator. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 2143-2149
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