Object placement planner for robotic pick and place tasks

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

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

9 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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages980-985
Number of pages6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
Duration: 2012 Oct 72012 Oct 12

Other

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

Fingerprint

Robotics

ASJC Scopus subject areas

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

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 IEEE International Conference on Intelligent Robots and Systems (pp. 980-985). [6385800] https://doi.org/10.1109/IROS.2012.6385800

Object placement planner for robotic pick and place tasks. / Harada, K.; Tsuji, T.; Nagata, K.; Yamanobe, N.; Onda, H.; Yoshimi, Takashi; Kawai, Y.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 980-985 6385800.

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

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 IEEE International Conference on Intelligent Robots and Systems., 6385800, pp. 980-985, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, 12/10/7. https://doi.org/10.1109/IROS.2012.6385800
Harada K, Tsuji T, Nagata K, Yamanobe N, Onda H, Yoshimi T et al. Object placement planner for robotic pick and place tasks. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 980-985. 6385800 https://doi.org/10.1109/IROS.2012.6385800
Harada, K. ; Tsuji, T. ; Nagata, K. ; Yamanobe, N. ; Onda, H. ; Yoshimi, Takashi ; Kawai, Y. / Object placement planner for robotic pick and place tasks. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 980-985
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