A grasp planning for picking up an unknown object for a mobile manipulator
A grasp planning for picking up an unknown object for a mobile manipulator
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移动机械臂拾取未知物体的抓取规划
DOI：
10.1109/robot.2006.1642021
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
--
作者：
Kimitoshi Yamazaki;M. Tomono;T. Tsubouchi;S. Yuta
描述了一种工作在真实的环境中的移动的机械手的抓取规划。迄今为止，移动的机器人研究了在真实的世界中实际上使用预先给予机器人的对象或对象模型上的ID标签来操纵对象。作者的目标是开发一个移动的机械手，可以通过视频图像获取的对象模型，并可以操纵的对象。在这种方法中，机器人可以自主地操纵未知物体。本文提出的抓取规划可以从自动生成的模型中找到一个稳定的抓取位姿，其中包含冗余数据和物体的形状误差。实验证明了该方法的有效性
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