DocumentCode
2443729
Title
Robotic grasping based on partial shape information
Author
Liu, Zhaojia ; Gueta, Lounell B ; Ota, Jun
Author_Institution
Center for Eng., Univ. of Tokyo, Kashiwa, Japan
fYear
2010
fDate
21-22 Dec. 2010
Firstpage
299
Lastpage
304
Abstract
This paper presents a work on fast robotic grasping by a mobile robot based on partial shape information of an object. The information is acquired by a laser range finder installed on the robot at an inclined angle. Feature data are extracted by scanning part of the object to calculate the grasping point. The robot grasps the object without needing to acquire and process all of the object information. An experiment is conducted, and the result illustrates the validity of the proposed method.
Keywords
distance measurement; manipulators; mobile robots; fast robotic grasping; laser range finder; mobile robot; object information; partial shape information; Feature extraction; Grasping; Mobile robots; Robot kinematics; Shape; Three dimensional displays;
fLanguage
English
Publisher
ieee
Conference_Titel
System Integration (SII), 2010 IEEE/SICE International Symposium on
Conference_Location
Sendai
Print_ISBN
978-1-4244-9316-6
Type
conf
DOI
10.1109/SII.2010.5708342
Filename
5708342
Link To Document