Handling of multiple heterogeneous objects with marks by a robot

Rie Katsuki; Jun Ota; Yusuke Tamura; Takahisa Mizuta; Tomomi Kito; Tamio Arai; Tsuyoshi Ueyama; Tsuyoshi Nishiyama

doi:10.1299/kikaic.70.766

Handling of multiple heterogeneous objects with marks by a robot

Rie Katsuki^*, Jun Ota, Yusuke Tamura, Takahisa Mizuta, Tomomi Kito, Tamio Arai, Tsuyoshi Ueyama, Tsuyoshi Nishiyama

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	766-773
Number of pages	8
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	70
Issue number	3
DOIs	https://doi.org/10.1299/kikaic.70.766
Publication status	Published - 2004 Mar
Externally published	Yes

Keywords

Manipulation
Mark
Measurement
Motion Planning
Sensor

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.70.766

Cite this

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title = "Handling of multiple heterogeneous objects with marks by a robot",

abstract = "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.",

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AU - Ota, Jun

AU - Tamura, Yusuke

AU - Mizuta, Takahisa

AU - Kito, Tomomi

AU - Arai, Tamio

AU - Ueyama, Tsuyoshi

AU - Nishiyama, Tsuyoshi

PY - 2004/3

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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.

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KW - Measurement

KW - Motion Planning

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Handling of multiple heterogeneous objects with marks by a robot

Abstract

Keywords

ASJC Scopus subject areas

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