Paper Info
Title
Teaching Method For Robot'S Gripper Posture With A Laser Sensor On A Pan-Tilt Actuator: A Method For Specifying Posture Feature Curves And Posture Feature Point
Abstract
Recently a lot of robots have been developed for supporting our daily life or patient care. In order to instruct such a support robot that can work in such cluttered environments, we have conventionally developed an intuitive robot teaching interface using a Time-of-Flight laser sensor on a pan-tilt actuator driven by a user. This interface enables us to control the direction of the laser spot to "click" a real object and instruct a robot to manipulate it by drag-and-drop operation throughout a PC world and a real world. In our conventional system, however, the success rates of grasping object was very low because only the position of the object can be taught, not the orientation of the object. To cope with the problem, in this paper we propose a system to easily grasp an object of arbitrary posture by measuring the locus of the laser spot using our real world click system. Some grasping experiments on various daily objects showed the effectiveness of the proposed method.
Year
DOI
Venue
2019
10.1109/RO-MAN46459.2019.8956376
2019 28TH IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)
DocType
ISSN
Citations 
Conference
1944-9445
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Kenji Ishihata100.34
Kenjiro Sato200.34
Yuta Fukui300.34
Satoshi Iwaki44512.51
Tetsushi Ikeda501.69