Zobrazeno 1 - 10
of 14
pro vyhledávání: '"Jinhwi Lee"'
Publikováno v:
IEEE Access, Vol 10, Pp 134899-134911 (2022)
We propose two algorithms based on local and global searches for a Task and Motion Planning (TAMP) problem, which considers a robotic manipulator to rearrange obstacles and grasp a target in clutter. In the problem, no collision-free path for a robot
Externí odkaz:
https://doaj.org/article/c6311114065645558bf4cda085e37d64
Publikováno v:
IEEE Access, Vol 10, Pp 39769-39781 (2022)
This study presents a deep neural network (DNN)-based safety monitoring method. Nonstationary objects such as moving workers, heavy equipment, and pallets were detected, and their trajectories were tracked. Time-varying safety zones (SZs) of moving o
Externí odkaz:
https://doaj.org/article/d62bd3eddc33410daa7aa0ed819fc785
Publikováno v:
Intelligent Service Robotics. 15:649-660
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e9b7fa1f2d9f3cd20f588169c0ab9b9d
https://doi.org/10.1007/s11370-022-00444-4
https://doi.org/10.1007/s11370-022-00444-4
Fast and Resilient Manipulation Planning for Object Retrieval in Cluttered and Confined Environments
Publikováno v:
IEEE Transactions on Robotics. 37:1539-1552
In this article, we present a task and motion planning method for retrieving a target object from clutter using a robotic manipulator. We consider dense and cluttered environments where some objects must be removed in order to retrieve the target wit
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9c92dfe3a5b8c270337d39e205ef8728
https://doi.org/10.1109/tro.2020.3047472
https://doi.org/10.1109/tro.2020.3047472
Autor:
Brian Y. Cho, Jeongho Lee, Jinhwi Lee, Changhwan Kim, Donghwan Kim, Sung-Kee Park, Sanghun Cheong, Changjoo Nam
Publikováno v:
Intelligent Service Robotics. 14:549-561
We propose a learning-based method to solve the problem of rearranging objects in clutter to obtain a collision-free path for retrieving a target object by a robotic manipulator. The method provides the solutions for what obstacles to remove and wher
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9ee67275fd415223e6b40dd7c00e9445
https://doi.org/10.1007/s11370-021-00377-4
https://doi.org/10.1007/s11370-021-00377-4
Publikováno v:
ICRA
We propose a tree search-based planning algorithm for a robot manipulator to rearrange objects and grasp a target in a dense space. We consider environments where tasks cannot be completed with prehensile planning only. As assuming that a manipulator
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::070fa427ac44b74973b2e36d5d84968f
https://doi.org/10.1109/icra48506.2021.9561895
https://doi.org/10.1109/icra48506.2021.9561895
Publikováno v:
ICRA
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the placement of r
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4788d1082a69c08ff05e8984faa96970
https://doi.org/10.1109/icra40945.2020.9197485
https://doi.org/10.1109/icra40945.2020.9197485
Publikováno v:
ICRA
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free path to t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::11a99210035e289d4d05e70a98067c54
http://arxiv.org/abs/2003.11420
http://arxiv.org/abs/2003.11420
Publikováno v:
UR
This paper presents a task and motion planning method for retrieving a target object from clutter using a mobile robotic manipulator. We consider a configuration of objects where the density of the space is high. Thus, the robot may have to relocate
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::49bbf7d93812ea502f3f7164d18f4951
https://doi.org/10.1109/urai.2019.8768576
https://doi.org/10.1109/urai.2019.8768576
Publikováno v:
ICRA
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and confined spac
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bf0e8ea4bb7710e026f561c2b1a029d7