Object Picking Motion by Humanoid Robot based on Object Position and Rotation Tracking
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)2016Vol. 2016(0), pp. 2A1–12a5
Hiroto Mizohana, Masaki Murooka, Yu Ohara, Ryohei Ueda, Syunichi NOZAWA, Kotaro Nagahama, Hiroaki Yaguchi, Kei Okada, Masayuki Inaba
Abstract
In order to enable humanoids to pick a unstable object, it is necessary to track the position and pose of the object in real time by the image and point cloud from camera.But the conventional methods to track objects by using 3D Optical flow are able to track only the position of objects moving by translational motion.In this paper, we propose the real time object position and pose tracking method using segmentation of point cloud in addtion to using 3D optical flow. We applied this method to control the picking motion of humanoid robot and realize picking unstable objects.
Related Papers
- → Model parameter estimation of humanoid robots using static contact force measurements(2013)12 cited
- → The Tele-operation of the Humanoid Robot-Whole Body Operation for Humanoid Robots in Contact with Environment-(2006)11 cited
- → Humanoid robotics(2007)4 cited
- → Experimental evaluation of the dynamic simulation of biped walking of humanoid robots(2004)27 cited
- → G1500-3-3 Passing through a door by a humanoid robot : Experimental verification(2010)2 cited