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Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry
http://hdl.handle.net/10061/0002000131
http://hdl.handle.net/10061/000200013140184b43-ee46-4bd2-b46a-813335fda06c
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||||||
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| 公開日 | 2024-02-16 | |||||||||||||||
| タイトル | ||||||||||||||||
| タイトル | Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry | |||||||||||||||
| 言語 | ||||||||||||||||
| 言語 | eng | |||||||||||||||
| キーワード | ||||||||||||||||
| 主題Scheme | Other | |||||||||||||||
| 主題 | Factory automation | |||||||||||||||
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| 主題Scheme | Other | |||||||||||||||
| 主題 | manipulation planning | |||||||||||||||
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| 主題Scheme | Other | |||||||||||||||
| 主題 | planning under uncertainty | |||||||||||||||
| キーワード | ||||||||||||||||
| 主題Scheme | Other | |||||||||||||||
| 主題 | intelligent and flexible manufacturing | |||||||||||||||
| 資源タイプ | ||||||||||||||||
| 資源タイプ | journal article | |||||||||||||||
| アクセス権 | ||||||||||||||||
| アクセス権 | open access | |||||||||||||||
| 著者 |
von Drigalski, Felix
× von Drigalski, Felix
× Kasaura, Kazumi
× Beltran-Hernandez, Cristian C.
× Hamaya, Masashi
× Tanaka, Kazutoshi
× 松原, 崇充 |
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| 抄録 | ||||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||||
| 内容記述 | Factory automation robot systems often depend on specially-made jigs that precisely position each part, which increases the system's cost and limits flexibility. We propose a method to determine the 3D pose of an object with high precision and confidence, using only parallel robotic grippers and no parts-specific jigs. Our method automatically generates a sequence of actions that ensures that the real-world position of the physical object matches the system's assumed pose to sub-mm precision. Furthermore, we propose the use of “extrinsic” actions, which use gravity, the environment and the gripper geometry to significantly reduce or even eliminate the uncertainty about an object's pose. We show in simulated and real-robot experiments that our method outperforms our previous work, at success rates over 95%. | |||||||||||||||
| 書誌情報 |
en : IEEE Robotics and Automation Letters 巻 7, 号 4, p. 11942-11949, 発行日 2022-09-19 |
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| 出版者 | IEEE | |||||||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||||||
| 収録物識別子 | 2377-3766 | |||||||||||||||
| 出版者版DOI | ||||||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||||||
| 識別子タイプ | DOI | |||||||||||||||
| 関連識別子 | https://doi.org/10.1109/LRA.2022.3207565 | |||||||||||||||
| 出版者版URI | ||||||||||||||||
| 関連タイプ | isReplacedBy | |||||||||||||||
| 識別子タイプ | URI | |||||||||||||||
| 関連識別子 | https://ieeexplore.ieee.org/document/9894673 | |||||||||||||||
| 権利 | ||||||||||||||||
| 権利情報Resource | https://creativecommons.org/licenses/by/4.0/ | |||||||||||||||
| 権利情報 | IEEE is not the copyright holder of this material. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ | |||||||||||||||
| 著者版フラグ | ||||||||||||||||
| 出版タイプ | NA | |||||||||||||||
