Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot

Toyomi Fujita, Nobuatsu Aimi

2019

Abstract

Recently, it is highly expected that robots work instead of human in a dangerous site such as disaster area. Sufficient working ability is required for such robots as well as moving ability. Thus, we present a method for autonomous gripping and carrying of a polyhedral shaped object by a mobile robot with multiple manipulation arms based on plane detection. Using this method, the robot can calculate appropriate observation positions for the detection of gripping planes and positions of the object. We apply the method to a quadruped tracked robot and verify its effectiveness in experiments for autonomous gripping and carrying of a box shaped object.

Paper Citation

in Harvard Style

Fujita T. and Aimi N. (2019). Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 552-558. DOI: 10.5220/0007980905520558

in Bibtex Style

@conference{icinco19,
author={Toyomi Fujita and Nobuatsu Aimi},
title={Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={552-558},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007980905520558},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Autonomous Gripping and Carrying of Polyhedral Shaped Object based on Plane Detection by a Quadruped Tracked Mobile Robot
SN - 978-989-758-380-3
AU - Fujita T.
AU - Aimi N.
PY - 2019
SP - 552
EP - 558
DO - 10.5220/0007980905520558