2A2-A23 日常生活環境下での指示物体の把持計画

概要

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This paper presents grasp planning for picking up an indicated object in a complex environment with a parallel jaw gripper. The grasp planning consists of the following three main steps: 1) A user indicates a target object and provides task instruction to the system, 2) the system acquires the information for the target object and constructs a 3D environment model by stereo vision using the information given by the user, 3) the system finds a grasp point based on a grasp evaluation using the acquired information.
一般社団法人日本機械学会の論文