Object placement planner for robotic pick and place tasks

K. Harada, T. Tsuji, K. Nagata, N. Yamanobe, H. Onda, T. Yoshimi, Y. Kawai

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

10 Citations (Scopus)

Abstract

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 an environment surface. The proposed method first constructs a polygon model of the surrounding environment, and then clusters the polygon model of both the environment and the object where each cluster is approximated by a planar region. The placement of the object can be determined by selecting a pair of clusters between the object and the environment. We further impose several conditions to determine the pose of the object placed on the environment. We show that we can determine the position/orientation of the object placed on the environment for several cases such as hanging a mug cup on a bar. The effectiveness of the proposed research is confirmed through several numerical examples.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages980-985
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Harada, K., Tsuji, T., Nagata, K., Yamanobe, N., Onda, H., Yoshimi, T., & Kawai, Y. (2012). Object placement planner for robotic pick and place tasks. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 980-985). [6385800] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385800