Publikationsdatenbank
Publication
A Geometrical Placement Planner For Unknown Sensor-Modelled Objects And Placement AreasJohannes Baumgartl , Dominik Henrich , Per Kaminsky
Abstract (english)
A Personal Robot should be able to handle possible unknown objects in unknown environments. For a manipulation task the question what to do with an object once it had been grasped is one of the most essential ones beside the grasping task itself.
We propose a placement planner for sensor-modelled objects in complex environments. The planner computes a stable position and orientation for the object in the environment. The algorithm uses only geometric information, most notably no force or torque sensor is required. In particular, we introduce a novel approach regarding the configuration computation.
By means of experiments with various household objects the robustness and performance are validated. Further on, we compare our approach to a configuration computation using a physics simulation framework.
Publication data
| Year: | 2013 |
| Publication date: | 13. December 2013 |
| Editor: | IEEE |
| Place: | Shenzhen, China |
| Source: | International Conference on Robotics and Biomimetics (ROBIO) |
| Project: | PAP |
| Keywords (deutsch): | Robotik |
| Keywords (english): | manipulation skills , on-line algorithms |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=baumgartl2013.12a |
BibTeX
@ARTICLE{baumgartl2013.12a,
TITLE = "A Geometrical Placement Planner For Unknown Sensor-Modelled Objects And Placement Areas",
AUTHOR = "Baumgartl, Johannes and Henrich, Dominik and Kaminsky, Per",
YEAR = "2013",
EDITOR = "IEEE",
JOURNAL = "International Conference on Robotics and Biomimetics (ROBIO)",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=baumgartl2013.12a}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| baumgartl2013.12a.A.Geometrical.Placement.Planner.For.Unknow n.SensorModelled.Objects.And.Placement.Areas.pdf |
3.5M | english | download preprint |