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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Weiwei Wan Cheung, E.C.H. Jia Pan Harada, K. |
| Copyright Year | 2015 |
| Description | Author affiliation: Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan (Weiwei Wan; Harada, K.) || Univ. of Hong Kong, Hong Kong, China (Cheung, E.C.H.; Jia Pan) |
| Abstract | Pick-and-place regrasp is an important grasp and manipulation skill for a robot to rearrange the world around it. This paper discusses how to design a tilted work surface for robotic workcells so that the robot inside the cell can improve its pick-and-place regrasps. In particular, the workcell design is guided by two heuristics, which simultaneously increase the number of stable placements of the objects to be grasped and the gripper's manipulability. We leverage regression techniques to compute a continuous function for fitting the multiplication of these two heuristics, and then maximize the fitted function for optimizing the parameters of tilted surfaces in a workcell. Experiments on using tilted surfaces to improve the stability and manipulability of various objects validate our approach. |
| Starting Page | 593 |
| Ending Page | 599 |
| File Size | 2453548 |
| Page Count | 7 |
| File Format | |
| e-ISBN | 9781467381833 |
| DOI | 10.1109/CoASE.2015.7294143 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-08-24 |
| Publisher Place | Sweden |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Planning Stability analysis Manipulators Grasping Shape Surface treatment |
| Content Type | Text |
| Resource Type | Article |
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