| Title: | OS16-1 Motion Planning to Retrieve an Object from Random Pile |
|---|---|
| Publication: | ICAROB2022 |
| Volume: | 27 |
| Pages: | 328-334 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2022.OS16-1 |
| Author(s): | Shusei Nagato, Tomohiro Motoda, Keisuke Koyama, Weiwei Wan, Kensuke Harada |
| Publication Date: | January 20, 2022 |
| Keywords: | viewpose selection, motion planning, object recognition |
| Abstract: | It is challenging to retrieve a target object from a randomly stacked pile by using a robot due to the occlusion of the target object. In this study, we propose a novel retrieval method in which a robot selects the viewpose to observe the occlusion part of the target object using the RGB-D images, and then selects the motion of grasping/dragging to retrieve the object depending on the configuration of the pile. We experimentally confirm that a robot effectively observes a pile with a complex configuration and successfully retrieves a target object. |
| PDF File: | https://alife-robotics.co.jp/members2022/icarob/data/html/data/OS/OS16/OS16-1.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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