| Autor: |
Ikuo Mizuuchi, Junya Fujimoto, Kazuo Hongo, Shigeki Ohta, Naoya Muramatsu, Toshinori Hirose, Kunihiko Yamamoto, Masayuki Inaba, Yoshinao Sodeyama, Kei Okada |
| Rok vydání: |
2009 |
| Předmět: |
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| Zdroj: |
RO-MAN |
| DOI: |
10.1109/roman.2009.5326210 |
| Popis: |
In this paper we present a new method for picking up dishes based on active groping. Though a bird's eye view is commonly used to recognize dishes, this method tends to produce errors in the presence of large occlusion, A multisensory robot hand can be used in a kitchen environment to probe and grasp dishes that are placed close to each other. Though sensing is an effective method, it is difficult to recognize a dish globally by this method because of the locality of measurement. To solve this difficulty, we propose a sensing method to aquire the geometric information about dishes by tracing their surface. We demonstrate that a robot can pick up three types of dishes on the basis of this active groping strategy by conducting an experiment. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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