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

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta

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

34 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 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2143-2149
Number of pages7
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • 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 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2143-2149). [1642021] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642021