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Authors: Toyomi Fujita and Nobuatsu Aimi

Affiliation: Department of Electronics and Intelligent Systems, Tohoku Institute of Technology, Sendai 982-8577 and Japan

Keyword(s): Mobile Robot with Multiple Manipulation Arms, Autonomous Gripping, Depth Image, Plane Detection, Observation Position Computation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: Recently, it is highly expected that robots work instead of human in a dangerous site such as disaster area. Sufficient working ability is required for such robots as well as moving ability. Thus, we present a method for autonomous gripping and carrying of a polyhedral shaped object by a mobile robot with multiple manipulation arms based on plane detection. Using this method, the robot can calculate appropriate observation positions for the detection of gripping planes and positions of the object. We apply the method to a quadruped tracked robot and verify its effectiveness in experiments for autonomous gripping and carrying of a box shaped object.

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Paper citation in several formats:
Fujita, T. and Aimi, N. (2019). Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 552-558. DOI: 10.5220/0007980905520558

@conference{icinco19,
author={Toyomi Fujita. and Nobuatsu Aimi.},
title={Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={552-558},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007980905520558},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot
SN - 978-989-758-380-3
IS - 2184-2809
AU - Fujita, T.
AU - Aimi, N.
PY - 2019
SP - 552
EP - 558
DO - 10.5220/0007980905520558
PB - SciTePress

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