• DocumentCode
    663448
  • Title

    Perception and motion planning for pick-and-place of dynamic objects

  • Author

    Cowley, A. ; Cohen, Benjamin ; Marshall, William ; Taylor, Camillo J. ; Likhachev, M.

  • Author_Institution
    GRASP Lab., Univ. of Pennsylvania, Philadelphia, PA, USA
  • fYear
    2013
  • fDate
    3-7 Nov. 2013
  • Firstpage
    816
  • Lastpage
    823
  • Abstract
    Mobile manipulators have brought a new level of flexibility to traditional automation tasks such as tabletop manipulation, but are not yet capable of the same speed and reliability as industrial automation. We present approaches to 3D perception and manipulator motion planning that enable a general purpose robotic platform to recognize and manipulate a variety of objects at a rate of one pick-and-place operation every 6.7 s, and work with a conveyor belt carrying objects at a speed of 33cm/s.
  • Keywords
    flexible manipulators; industrial manipulators; mobile robots; object recognition; path planning; 3D perception; conveyor belt; dynamic objects; general purpose robotic platform; industrial automation; mobile manipulators; motion planning; object manipulation; object recognition; pick-and-place operation; tabletop manipulation; velocity 33 cm/s; Collision avoidance; Cost function; Planning; Robot sensing systems; Service robots; Trajectory;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
  • Conference_Location
    Tokyo
  • ISSN
    2153-0858
  • Type

    conf

  • DOI
    10.1109/IROS.2013.6696445
  • Filename
    6696445
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=663448