Abstract
This research develops a robotic vision and manipulation technologies for random bin-picking. Especially, we focus on the manipulation technology where a dual-arm manipulator first picks up an object from the pile, then regrasps it from the right hand to the left hand, and finally places it to the fixture. We first explain an overview of our research project. Then, we explain about the grasp/manipulation planner for a dual-arm manipulator. Here, our grasp planner is well applied for objects which can be approximated by multiple cylinders. Also, our pick-and-place planner can effectively find a regrasping posture of an object. In addition to the manipulation technology, we briefly explain about our vision technology to measure the position/orientation of an object. Finally, to show the effectiveness of our proposed approach, we show an experimental result of a dual-arm manipulator.
| Original language | English |
|---|---|
| Title of host publication | 2014 IEEE/SICE International Symposium on System Integration, SII 2014 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 583-589 |
| Number of pages | 7 |
| ISBN (Print) | 9781479969449 |
| DOIs | |
| Publication status | Published - 2014 Jan 30 |
| Externally published | Yes |
| Event | 7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan Duration: 2014 Dec 13 → 2014 Dec 15 |
Other
| Other | 7th IEEE/SICE International Symposium on System Integration, SII 2014 |
|---|---|
| Country | Japan |
| City | Tokyo |
| Period | 14/12/13 → 14/12/15 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Networks and Communications
- Information Systems
Cite this
Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator. / Harada, Kensuke; Yoshimi, Takashi; Kita, Yasuyo; Nagata, Kazuyuki; Yamanobe, Natsuki; Ueshiba, Toshio; Satoh, Yutaka; Masuda, Takeshi; Takase, Ryuichi; Nishi, Takao; Nagami, Takeshi; Kawai, Yoshihiro; Nakamura, Osamu.
2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 583-589 7028104.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator
AU - Harada, Kensuke
AU - Yoshimi, Takashi
AU - Kita, Yasuyo
AU - Nagata, Kazuyuki
AU - Yamanobe, Natsuki
AU - Ueshiba, Toshio
AU - Satoh, Yutaka
AU - Masuda, Takeshi
AU - Takase, Ryuichi
AU - Nishi, Takao
AU - Nagami, Takeshi
AU - Kawai, Yoshihiro
AU - Nakamura, Osamu
PY - 2014/1/30
Y1 - 2014/1/30
N2 - This research develops a robotic vision and manipulation technologies for random bin-picking. Especially, we focus on the manipulation technology where a dual-arm manipulator first picks up an object from the pile, then regrasps it from the right hand to the left hand, and finally places it to the fixture. We first explain an overview of our research project. Then, we explain about the grasp/manipulation planner for a dual-arm manipulator. Here, our grasp planner is well applied for objects which can be approximated by multiple cylinders. Also, our pick-and-place planner can effectively find a regrasping posture of an object. In addition to the manipulation technology, we briefly explain about our vision technology to measure the position/orientation of an object. Finally, to show the effectiveness of our proposed approach, we show an experimental result of a dual-arm manipulator.
AB - This research develops a robotic vision and manipulation technologies for random bin-picking. Especially, we focus on the manipulation technology where a dual-arm manipulator first picks up an object from the pile, then regrasps it from the right hand to the left hand, and finally places it to the fixture. We first explain an overview of our research project. Then, we explain about the grasp/manipulation planner for a dual-arm manipulator. Here, our grasp planner is well applied for objects which can be approximated by multiple cylinders. Also, our pick-and-place planner can effectively find a regrasping posture of an object. In addition to the manipulation technology, we briefly explain about our vision technology to measure the position/orientation of an object. Finally, to show the effectiveness of our proposed approach, we show an experimental result of a dual-arm manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84946690479&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946690479&partnerID=8YFLogxK
U2 - 10.1109/SII.2014.7028104
DO - 10.1109/SII.2014.7028104
M3 - Conference contribution
SN - 9781479969449
SP - 583
EP - 589
BT - 2014 IEEE/SICE International Symposium on System Integration, SII 2014
PB - Institute of Electrical and Electronics Engineers Inc.
ER -