書誌事項
- タイトル別名
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- Learning of Object Manipulation by Estimation of Reachable Region and Constraint Region Based on Object Extraction from Image
- シカク カラ ノ タイショウブツ チュウシュツ ニ モトズイタ トウタツ カノウ リョウイキ ト コウソク リョウイキ ノ スイテイ ニ ヨル タイショウブツ ソウサ ノ ガクシュウ
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抄録
It is important for robots that act in human-centered environment to manipulate objects using visual information, where adaptability to unknown factors such as properties of robot body and objects is required. In this paper, we propose a learning method to acquire visual representation of robot body and object that is suitable for motion learning in a bottom-up manner. An advantage of the proposed framework is that it does not require specific hand-coding depending on the visual properties of objects or the robot, such as colors, shapes and sizes. Objects are extracted by a subtraction technique and the state space is constructed by SOM based on the images of extracted objects. Motion of the robot is planned based on reachable set that expresses a region where the object can reach. The task to move an object to a target position is divided into two phases, one to reach a position that is suitable for starting pushing and pulling motion and the other to push and pull the object to the target. The proposed method is verified by experiment of pushing and pulling manipulation of an object with a robot arm.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 29 (2), 172-183, 2011
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204728582272
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- NII論文ID
- 10027810449
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 11048159
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可