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 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Networks and Communications
- Information Systems