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ICRA
2006
IEEE

A Grasp Planning for Picking up an Unknown Object for a Mobile Manipulator

10 years 1 months ago
A Grasp Planning for Picking up an Unknown Object for a Mobile Manipulator
— This paper describes a grasp planning for a mobile manipulator which works in real environment. Mobile robot studies up to now that manipulate an object in real world practically use ID tag on an object or an object model which is given to the robot in advance. The authors aim to develop a mobile manipulator that can acquire an object model through video images and can manipulate the object. In this approach, the robot can manipulate an unknown object autonomously. A grasp planning proposed in this paper can find a stable grasp pose from the automatically generated model which contains redundant data and the shape error of the object. Experiments show the effectiveness of the proposed method.
Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubo
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Kimitoshi Yamazaki, Masahiro Tomono, Takashi Tsubouchi, Shin'ichi Yuta
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