Cylinder detection and grasping application using humanoid robot

Shingo Maeda*, Tomohito Takubo, Kenji Inoue, Tatsuo Arai, Shun Nishide

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Researches on humanoid robots have become more and more active in various fields. One of the purposes is to construct a coexistent and cooperative society between humanoid robots and human. The body of humanoid robots is similar to human beings enabling them to walk with a pair of legs and to work with their hands. Therefore, humanoid robots have advantages to work in human environment. So, researchers' interests are attracted to introduce them into construction sites for more efficient works. In this paper, the main objective is the process of grasping experiment by a humanoid robot as an example of such application. The robot is required to obtain the object information and the grasping point. We propose a detection method for cylinders using L*a*b* color discrimination and oval estimation with conic fitting. The grabbing experiment using HRP-2 denotes the effectivity of the method using the GUI for transmitting commands.

Original languageEnglish
Title of host publication2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
PublisherJapan Robot Association
Pages517-522
Number of pages6
ISBN (Print)4990271718, 9784990271718
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 - Tokyo, Japan
Duration: 3 Oct 20065 Oct 2006

Publication series

Name2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006

Conference

Conference23rd International Symposium on Robotics and Automation in Construction, ISARC 2006
Country/TerritoryJapan
CityTokyo
Period3/10/065/10/06

Keywords

  • Cylinder detection
  • GUI
  • Grasping
  • Humanoid robot

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Maeda, S., Takubo, T., Inoue, K., Arai, T., & Nishide, S. (2006). Cylinder detection and grasping application using humanoid robot. In 2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006 (pp. 517-522). (2006 Proceedings of the 23rd International Symposium on Robotics and Automation in Construction, ISARC 2006). Japan Robot Association. https://doi.org/10.22260/isarc2006/0097