Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator

Kensuke Harada; Takashi Yoshimi; Yasuyo Kita; Kazuyuki Nagata; Natsuki Yamanobe; Toshio Ueshiba; Yutaka Satoh; Takeshi Masuda; Ryuichi Takase; Takao Nishi; Takeshi Nagami; Yoshihiro Kawai; Osamu Nakamura

doi:10.1109/SII.2014.7028104

Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator

Kensuke Harada, Takashi Yoshimi, Yasuyo Kita, Kazuyuki Nagata, Natsuki Yamanobe, Toshio Ueshiba, Yutaka Satoh, Takeshi Masuda, Ryuichi Takase, Takao Nishi, Takeshi Nagami, Yoshihiro Kawai, Osamu Nakamura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

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	https://doi.org/10.1109/SII.2014.7028104
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

ASJC Scopus subject areas

Control and Systems Engineering
Computer Networks and Communications
Information Systems

Access to Document

10.1109/SII.2014.7028104

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Harada, K., Yoshimi, T., Kita, Y., Nagata, K., Yamanobe, N., Ueshiba, T., Satoh, Y., Masuda, T., Takase, R., Nishi, T., Nagami, T., Kawai, Y., & Nakamura, O. (2014). Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014 (pp. 583-589). [7028104] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2014.7028104

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

Harada, K, Yoshimi, T, Kita, Y, Nagata, K, Yamanobe, N, Ueshiba, T, Satoh, Y, Masuda, T, Takase, R, Nishi, T, Nagami, T, Kawai, Y & Nakamura, O 2014, Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator. in 2014 IEEE/SICE International Symposium on System Integration, SII 2014., 7028104, Institute of Electrical and Electronics Engineers Inc., pp. 583-589, 7th IEEE/SICE International Symposium on System Integration, SII 2014, Tokyo, Japan, 14/12/13. https://doi.org/10.1109/SII.2014.7028104

Harada K, Yoshimi T, Kita Y, Nagata K, Yamanobe N, Ueshiba T et al. Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 583-589. 7028104 https://doi.org/10.1109/SII.2014.7028104

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. / Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator. 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 583-589

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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.",

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AU - Yamanobe, Natsuki

AU - Ueshiba, Toshio

AU - Satoh, Yutaka

AU - Masuda, Takeshi

AU - Takase, Ryuichi

AU - Nishi, Takao

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AU - Kawai, Yoshihiro

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Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator

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