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Paper TuD210.4

Tsuda, Atsushi (The Univ. of Tokyo), Kakiuchi, Yohei (The University of Tokyo), Nozawa, Shunichi (The University of Tokyo), Ueda, Ryohei (The University of Tokyo), Okada, Kei (The University of Tokyo), Inaba, Masayuki (The University of Tokyo)

On-Line Next Best Grasp Selection for In-Hand Object 3D Modeling with Dual-Arm Coordination

Scheduled for presentation during the Interactive Session "Interactive Session TuD-2" (TuD210), Tuesday, May 15, 2012, 17:00−17:30, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Humanoid Robots, Cooperative Manipulators, Manipulation Planning

Abstract

Humanoid robots working in a household environment need 3D geometric shape models of objects in it for recognizing and managing them properly. Then, we make humanoid robots creating a model by themselves with dual-arm re-grasping (Fig.1 ). When robots create a model by themselves, they should know how and where they can grasp objects, how their hands occlude object surfaces, and when they have seen every surfaces on an object. In addition, to execute efficient observation with less failure, it is important to reduce the number of re-grasping. Of course when the shape of an object is unknown, it is difficult to get a sequence of grasp positions which fulfills these conditions. This determination problem of a sequence of grasp positions can be expressed through a graph search problem. To solve this graph, we propose a heuristic method to for selecting next grasp position. This proposed method can be used for creating object models when 3D shape information is updated on-line. We compare the result of this heuristic method with the optimal solution available when 3D shape information is given. Also, we propose an observation system with dual-arm re-grasping considering the points when humanoid robots execute observation in the real world. Finally, we show the experiment result of construction of 3D shape models in the real world using the heuristic method and the observation system.

 

 

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