TY - GEN
T1 - Object placement planner for robotic pick and place tasks
AU - Harada, K.
AU - Tsuji, T.
AU - Nagata, K.
AU - Yamanobe, N.
AU - Onda, H.
AU - Yoshimi, T.
AU - Kawai, Y.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872354345&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872354345&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385800
DO - 10.1109/IROS.2012.6385800
M3 - Conference contribution
AN - SCOPUS:84872354345
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 980
EP - 985
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -