TY - JOUR
T1 - Handling of multiple heterogeneous objects with marks by a robot
AU - Katsuki, Rie
AU - Ota, Jun
AU - Tamura, Yusuke
AU - Mizuta, Takahisa
AU - Kito, Tomomi
AU - Arai, Tamio
AU - Ueyama, Tsuyoshi
AU - Nishiyama, Tsuyoshi
PY - 2004/3
Y1 - 2004/3
N2 - This paper presents a robot system for handling various objects in home or office environments. A fixed manipulator utilizes marks on objects. A mark consists of two parts. One is the outer part, which indicates its 3 D pose, and the other is a QR code, which is stored information of an object (e.g. its size). A QR code is a kind of 2 D barcode. A user attaches several marks on objects. The manipulator accesses the information using a camera on its hand. The manipulator estimates pose of objects measuring marks and using least-squares method. Then, the robot can handle and convey the objects through planning a sequence of conveyance and a pose for grasp that is based on the pose of objects, candidates for grasp pose informed by the mark, and signals from proximity sensors. Experiments are conducted to verify the whole system.
AB - This paper presents a robot system for handling various objects in home or office environments. A fixed manipulator utilizes marks on objects. A mark consists of two parts. One is the outer part, which indicates its 3 D pose, and the other is a QR code, which is stored information of an object (e.g. its size). A QR code is a kind of 2 D barcode. A user attaches several marks on objects. The manipulator accesses the information using a camera on its hand. The manipulator estimates pose of objects measuring marks and using least-squares method. Then, the robot can handle and convey the objects through planning a sequence of conveyance and a pose for grasp that is based on the pose of objects, candidates for grasp pose informed by the mark, and signals from proximity sensors. Experiments are conducted to verify the whole system.
KW - Manipulation
KW - Mark
KW - Measurement
KW - Motion Planning
KW - Sensor
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U2 - 10.1299/kikaic.70.766
DO - 10.1299/kikaic.70.766
M3 - Article
AN - SCOPUS:2942562757
SN - 0387-5024
VL - 70
SP - 766
EP - 773
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 3
ER -