Authors:
Takahiro Suzuki
and
Manabu Hashimoto
Affiliation:
Graduate School of Engineering, Chukyo University, Aichi, Japan
Keyword(s):
Robot Motion Parameter Estimation, Function Recognition, Functional Consistency, Assembly, Bin Scene.
Abstract:
In this paper, we propose a method for estimating robot motion parameters necessary for robots to automatically assemble objects. Generally, parts used in assembly are often randomly stacked. The proposed method estimates the robot motion parameters from this state. Each part has a role referred to as a “function” such as “to be grasped” or “to be assembled with other parts” for each region. Related works have defined functions for everyday objects, but in this paper, we defined a novel functional label for industrial parts. In addition, we proposed novel ideas which is the functional consistency of part. Functional consistency refers to the constraints that functional labels have. Functional consistency is used in adapting to various bin scene because it is invariant no matter what state the parts are placed in. Functional consistency is used in the proposed method as a cue, robot motion parameters are estimated on the basis of relationship between parameters and functions. In an ex
periment using connecting rods, the average success rate was 81.5%. The effectiveness of the proposed method was confirmed from the ablation studies and comparison with related work.
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