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 proceedingConference contribution

13 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 languageEnglish
Title of host publication2014 IEEE/SICE International Symposium on System Integration, SII 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages583-589
Number of pages7
ISBN (Print)9781479969449
DOIs
Publication statusPublished - 2014 Jan 30
Externally publishedYes
Event7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
Duration: 2014 Dec 132014 Dec 15

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
CountryJapan
CityTokyo
Period14/12/1314/12/15

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

Cite this

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