Object placement planner for robotic pick and place tasks

K. Harada, T. Tsuji, K. Nagata, N. Yamanobe, H. Onda, Takashi Yoshimi, Y. Kawai

研究成果: Conference contribution

10 引用 (Scopus)

抜粋

This paper proposes an object placement planner for a grasped object during pick-and-place tasks. The proposed planner automatically determines the pose of an object stably placed near a user assigned point on an environment surface. The proposed method first constructs a polygon model of the surrounding environment, and then clusters the polygon model of both the environment and the object where each cluster is approximated by a planar region. The placement of the object can be determined by selecting a pair of clusters between the object and the environment. We further impose several conditions to determine the pose of the object placed on the environment. We show that we can determine the position/orientation of the object placed on the environment for several cases such as hanging a mug cup on a bar. The effectiveness of the proposed research is confirmed through several numerical examples.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
ページ980-985
ページ数6
DOI
出版物ステータスPublished - 2012
外部発表Yes
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
継続期間: 2012 10 72012 10 12

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Vilamoura, Algarve
期間12/10/712/10/12

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Harada, K., Tsuji, T., Nagata, K., Yamanobe, N., Onda, H., Yoshimi, T., & Kawai, Y. (2012). Object placement planner for robotic pick and place tasks. : IEEE International Conference on Intelligent Robots and Systems (pp. 980-985). [6385800] https://doi.org/10.1109/IROS.2012.6385800