A Fast Pick-and-Place Method for Home Service Robots using 3D point clouds

DOI 1 Citations
  • Ono Tomohiro
    Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology
  • Tamukoh Hakaru
    Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology

Description

Home service robots have begun attracting attention due to decreasing birthrate and increasing aging population. The basic functions of home service robots are object recognition, picking and placing, recognition of people and environment, and interaction with peoples. In this paper, we focus on object picking and placing in the domestic environment. The pick-and-place task is a very important technique used for arrangement shelves and tidying up rooms. In order for the robot to operate smoothly, the movement to pick-and-place the object must be fast. Therefore, we develop a fast pick-and-place method using 3D point clouds. Regarding the picking, we describe a grasping-point estimation method. Regarding the placing, we describe a placeable position estimation method. These methods are used at RoboCup@Home, an international competition aimed at the practical application of home service robots, and their effectiveness and validity are verified.

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Details 詳細情報について

  • CRID
    1390846609806893568
  • DOI
    10.5954/icarob.2020.os20-3
  • ISSN
    21887829
  • Text Lang
    en
  • Article Type
    journal article
  • Data Source
    • JaLC
    • Crossref
    • KAKEN
    • OpenAIRE
  • Abstract License Flag
    Disallowed

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