Automated Pose Estimation of Objects Using Multiple ID Devices for Handling and Maintenance Task in Nuclear Fusion Reactor

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概要

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• This paper describes a method for the automated estimation of three-dimensional pose (position and orientation) of objects by autonomous robots, using multiple identification (ID) devices. Our goal is to estimate the object pose for assembly or maintenance tasks in a real nuclear fusion reactor system, with autonomous robots cooperating in a virtual assembly system. The method estimates the three-dimensional pose for autonomous robots. This paper discusses a method of motion generation for ID acquisition using the sensory data acquired by the measurement system attached to the robots and from the environment. Experimental results show the feasibility of the proposed method.

著者

• Arai Tatsuo

  Osaka University

• INOUE Kenji

  Yamagata University, 4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan

• UMETANI Tomohiro

  Konan University, 8-9-1 Okamoto, Higashinada, Kobe 658-8501, Japan

• MORIOKA Jun-ichi

  Konan University, 8-9-1 Okamoto, Higashinada, Kobe 658-8501, Japan

• MAE Yasusi

  Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8501, Japan

• TAMURA Yuichi

  Konan University, 8-9-1 Okamoto, Higashinada, Kobe 658-8501, Japan

• Umetani Tomohiro

  Department of Intelligence and Informatics, Konan University

• ARAI Tatsuo

  Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8501, Japan

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