Name
Abstract | ||
|---|---|---|
This paper presents a robust bin-picking system utilizing tactile sensors and a vision sensor. The object position and orientation are estimated using a fast template-matching method through the vision sensor. When a robot picks up an object, the tactile sensors detect the success or failure of the grasping, and a force sensor detects the contact with the environment. A weight sensor is also used to judge whether the lifting of the object has been successful. The robust and efficient bin-picking system presented herein is implemented through the integration of different sensors. In particular, the tactile sensors realize rope-shaped object picking that has yet to be made possible with conventional picking systems. The effectiveness of the proposed method was confirmed through grasping experiments and in a competitive event at the World Robot Challenge 2018. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1080/01691864.2019.1702897 | ADVANCED ROBOTICS |
Keywords | DocType | Volume |
Kitting,bin-picking,tactile sensor,planning,world robot summit | Journal | 34.0 |
Issue | ISSN | Citations |
SP7-8 | 0169-1864 | 0 |
PageRank | References | Authors |
0.34 | 0 | 13 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sho Tajima | 1 | 0 | 0.68 |
| Seiji Wakamatsu | 2 | 0 | 0.68 |
| Taiki Abe | 3 | 0 | 1.01 |
| Masanari Tennomi | 4 | 0 | 0.68 |
| Koki Morita | 5 | 0 | 0.34 |
| Hirotoshi Ubata | 6 | 0 | 0.34 |
| Atsushi Okamura | 7 | 0 | 0.68 |
| Yuji Hirai | 8 | 0 | 1.69 |
| Kota Morino | 9 | 0 | 0.34 |
| Yosuke Suzuki | 10 | 33 | 9.31 |
| Tokuo Tsuji | 11 | 132 | 23.29 |
| Kimitoshi Yamazaki | 12 | 144 | 28.08 |
| Tetsuyou Watanabe | 13 | 103 | 20.21 |