| Title: | PS-1 Motion-Data Driven Grasp/Assembly Planner |
|---|---|
| Publication: | ICAROB2019 |
| Volume: | 24 |
| Pages: | 1-4 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2019.PS-1 |
| Author(s): | Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel G. Ramirez-Alpizar, Tokuo Tsuji |
| Publication Date: | January 10, 2019 |
| Keywords: | Robotic assembly, Motion planning, Skillfull motion, Database |
| Abstract: | This paper proposes a robotic grasp/assembly planner using a database of complex and skillfull motion. In our proposed planner, if a skillfull motion is included in the solution path, motion data included in the database is used. In this paper, we first explain the three-layered structure of the motion data. Then, we explain the proposed grasp/assembly planner. Finally, we show a numerical example to confirm the effectiveness of our proposed method. |
| PDF File: | https://alife-robotics.co.jp/members2019/icarob/data/html/data/PS_pdf/PS-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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