TY - GEN
T1 - A grasp planning for picking up an unknown object for a mobile manipulator
AU - Yamazaki, Kimitoshi
AU - Tomono, Masahiro
AU - Tsubouchi, Takashi
AU - Yuta, Shin'ichi
PY - 2006/12/27
Y1 - 2006/12/27
N2 - This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this approach, the robot can manipulate an unknown object autonomously. A grasp planning proposed in this paper can find a stable grasp pose from the automatically generated model which contains redundant data and the shape error of the object. Experiments show the effectiveness of the proposed method.
AB - This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this approach, the robot can manipulate an unknown object autonomously. A grasp planning proposed in this paper can find a stable grasp pose from the automatically generated model which contains redundant data and the shape error of the object. Experiments show the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=33845653115&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845653115&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642021
DO - 10.1109/ROBOT.2006.1642021
M3 - Conference contribution
AN - SCOPUS:33845653115
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2143
EP - 2149
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -