NDLI: Grasp, motion, view planning on dual-arm humanoid for manipulating in-hand object

Content Provider	IEEE Xplore Digital Library
Author	Tsuda, A. Kakiuchi, Y. Nozawa, S. Ueda, R. Okada, K. Inaba, M.
Copyright Year	2011
Description	Author affiliation: Mechano-Inf., Univ. of Tokyo, Tokyo, Japan (Tsuda, A.; Kakiuchi, Y.; Nozawa, S.; Ueda, R.; Okada, K.; Inaba, M.)
Abstract	It is certainly important to get 3D geometric shape models of unknown objects. We try throughout this paper to make humanoid robots construct such models themselves. To reach this objective, we propose a method consisting in observing objects from multiple view points with re-grasping in order to get non-occluded model. In this paper, we especially focus on the selection algorithm of the next grasp position from computed candidates. This problem is expressed through a graph search problem. The nodes represent grasp positions, and they are connected when robots can re-grasp from one grasp position to the other. Of cource when the shape of an object is unknown, it is difficult to solve this problem. This is why we propose a heuristic method to select next grasp position only using grasp position information, so to be able to adapt to objects which 3D shape information is updated online. We compare the result with this method with the optimal solution available when 3D shape information is given. Finally we show the validity of this heuristic method in real time observation by comparison between these two solutions from the standpoint of the acquired 3D shape percentage and the number of regrasping.
Starting Page	54
Ending Page	57
File Size	824140
Page Count	4
File Format	PDF
ISBN	9781467307956
ISSN	21627576
e-ISBN	9781467307963
DOI	10.1109/ARSO.2011.6301957
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Shape Robot kinematics Computational modeling Search problems Planning
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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