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
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;
Conference_Titel :
System Integration (SII), 2010 IEEE/SICE International Symposium on
Conference_Location :
Sendai
Print_ISBN :
978-1-4244-9316-6
DOI :
10.1109/SII.2010.5708342
