A grasp planning for picking up an unknown object for a mobile manipulator

Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta

研究成果: Conference contribution

37 被引用数 (Scopus)

抄録

This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this approach, the robot can manipulate an unknown object autonomously. A grasp planning proposed in this paper can find a stable grasp pose from the automatically generated model which contains redundant data and the shape error of the object. Experiments show the effectiveness of the proposed method.

本文言語English
ホスト出版物のタイトルProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
ページ2143-2149
ページ数7
DOI
出版ステータスPublished - 2006 12月 27
イベント2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
継続期間: 2006 5月 152006 5月 19

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2006
ISSN(印刷版)1050-4729

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
国/地域United States
CityOrlando, FL
Period06/5/1506/5/19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

フィンガープリント

「A grasp planning for picking up an unknown object for a mobile manipulator」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル