抄録
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.
| 本文言語 | English |
|---|---|
| ホスト出版物のタイトル | 2014 IEEE/SICE International Symposium on System Integration, SII 2014 |
| 出版社 | Institute of Electrical and Electronics Engineers Inc. |
| ページ | 583-589 |
| ページ数 | 7 |
| ISBN（印刷版） | 9781479969449 |
| DOI | |
| 出版ステータス | Published - 2014 1月 30 |
| 外部発表 | はい |
| イベント | 7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan 継続期間: 2014 12月 13 → 2014 12月 15 |
Other
| Other | 7th IEEE/SICE International Symposium on System Integration, SII 2014 |
|---|---|
| 国/地域 | Japan |
| City | Tokyo |
| Period | 14/12/13 → 14/12/15 |
ASJC Scopus subject areas
- 制御およびシステム工学
- コンピュータ ネットワークおよび通信
- 情報システム