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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Makita, S. Okita, K. Maeda, Y. |
| Copyright Year | 2012 |
| Description | Author affiliation: Div. of Systems Research, Faculty of Engineering, Yokohama National University 79-5 Tokiwadai, Hodogaya-ku, Yokohama, Japan (Maeda, Y.) || Dept. of Control Engineering, Sasebo National College of Technology, 1-1 Okishinmachi, Sasebo, Japan (Makita, S.) || Canon Inc (Okita, K.) |
| Abstract | Caging is a method to capture an object geometrically by position-controlled robots without any force and tactile sensors. Many previous researches focused on caging constraints of objects, and those on planning are few. In this paper, we present a motion planner for caging by a multifingered hand and a manipulator to produce whole motion which includes approaching to a target object and capturing it without any collisions. We derive sufficient conditions required for the caging tasks about three caging patterns. Since the planner requires the object properties including the position and orientation of the object, we adopt an object recognition using AR picture markers. We apply the proposed method to caging about four target objects: a cylinder, a ring, a mug and a dumbbell. Some experimental results shows that each motion are successfully planned, and executed by the arm/hand system. |
| Starting Page | 2158 |
| Ending Page | 2164 |
| File Size | 303840 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781467312752 |
| e-ISBN | 9781467312783 |
| DOI | 10.1109/ICMA.2012.6285677 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-08-05 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Joints Planning Manipulators Object recognition Collision avoidance Databases Motion Planning Caging Grasping Manipulation |
| Content Type | Text |
| Resource Type | Article |
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