Handling of Objects with Marks by a Robot

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

*この研究の対応する著者

研究成果: Paper査読

25 被引用数 (Scopus)

抄録

This paper presents a robot system for handling various objects in home or office environments (see video). A fixed manipulator utilizes marks on objects for handling and motion planning. A mark consists of two parts. One is the outer part, which indicates its pose (In this paper, "pose" denotes 3D position and orientation.), and the other is a QR code, which is a kind of 2D barcode. A QR code is stored information of an object (e.g. its name). A user attaches several marks on each object. The manipulator accesses the information using a camera in its hand. The robot can decide its complex handling motion based on the information in QR codes, pose of the objects, which are estimated from pose of marks, and signals from proximity sensors. Experiments are conducted to verify the whole system. Manipulation, Motion planning, Artificial mark, Sensor, Measurement.

本文言語English
ページ130-135
ページ数6
出版ステータスPublished - 2003
外部発表はい
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10 272003 10 31

Conference

Conference2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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