Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot

被引：0

作者：

Fujita, Toyomi ^{[1
]}

Aimi, Nobuatsu ^{[1
]}

机构：

[1] Tohoku Inst Technol, Dept Elect & Intelligent Syst, Sendai, Miyagi 9828577, Japan

来源：

ICINCO: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2019年

关键词：

Mobile Robot with Multiple Manipulation Arms; Autonomous Gripping; Depth Image; Plane Detection; Observation Position Computation;

D O I：

10.5220/0007980905520558

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Recently, it is highly expected that robots work instead of human in a dangerous site such as disaster area. Sufficient working ability is required for such robots as well as moving ability. Thus, we present a method for autonomous gripping and carrying of a polyhedral shaped object by a mobile robot with multiple manipulation arms based on plane detection. Using this method, the robot can calculate appropriate observation positions for the detection of gripping planes and positions of the object. We apply the method to a quadruped tracked robot and verify its effectiveness in experiments for autonomous gripping and carrying of a box shaped object.

引用

页码：552 / 558

页数：7

共 38 条

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