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

研究成果: Conference contribution

17 被引用数 (Scopus)

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 132014 12月 15

Other

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

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

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