Handling of objects with marks by a robot

Author

Katsuki, Rie ; Ota, Jun ; Tamura, Yusuke ; MIZUTA, Takahisa ; KITO, Tomomi ; Arai, Tamio ; Ueyama, Tsuyoshi ; NISHIYAMA, Tsuyoshi

Author_Institution

Tokyo Univ., Japan

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

130

Abstract

This paper presents a robot system for handling various objects in home or office environments. A fixed manipulator utilizes marks on objects for handling and motion planning. A mark consists of two parts. One is the outer part, which indicates its pose (in this paper, "pose " denotes 3D position and orientation), and the other is a QR code, which is a kind of 2D barcode. A QR code is stored information of an object (e.g. its name). A user attaches several marks on each object. The manipulator accesses the information using a camera in its hand. The robot can decide its complex handling motion based on the information in QR codes, pose of the objects, which are estimated from pose of marks, and signals from proximity sensors. Experiments are conducted to verify the whole system.

Keywords

cameras; manipulators; mobile robots; path planning; robot vision; sensors; 2D barcode; 3D orientation; 3D position; QR code; camera; manipulator; motion planning; object handling; proximity sensors; robot system; Cameras; Computational efficiency; Image processing; Intelligent robots; Manipulators; Motion planning; Object recognition; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250617

Filename

1250617