Learning Tossing Motion Considering Projectile Conditions Toward Quick Robotic Packing

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  • 迅速な箱詰め作業のための投射物の状態を考慮したトス動作の学習

Abstract

<p>To shorten the work time (cycle time) of the conventional pick-and-place operation by robots, we propose a method for a robot to achieve pick-and-toss operation through learning. In this paper, for simplicity, the optimal hand opening width and arm joint velocity are obtained by learning for a tossing motion with a reduced amount of rotation to the target box. In particular, by considering whether or not the projectile made contact with the side walls of the box before landing, we achieve an efficient learning method. Our experimental results demonstrate that the proposed method is possible to learn the tossing motion. Further, we discuss the efficacy in terms of the cycle time and the operating range of pick-and-toss.</p>

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