Volume 5, Issue 4, March 2019, Pages 232 - 235
Motion-Data Driven Grasp/Assembly Planner
Authors
Kensuke Harada1, 2, *, Natsuki Yamanobe2, Weiwei Wan1, 2, Kazuyuki Nagata2, Ixchel G. Ramirez-Alpizar1, Tokuo Tsuji3
1Graduate School of Engineering Science, Osaka University, Toyonaka 560-8531, Japan
2Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8568, Japan
3Institute of Science and Technology, Kanazawa University, Kadoma-cho, Kanazawa 920-1192, Japan
*Corresponding author. Email: harada@sys.es.osaka-u.ac.jp
Corresponding Author
Kensuke Harada
Received 18 October 2018, Accepted 21 November 2018, Available Online 30 March 2019.
- DOI
- 10.2991/jrnal.k.190220.005How to use a DOI?
- Keywords
- Robotic assembly; motion planning; skillful motion; database
- Abstract
This paper proposes a robotic grasp/assembly planner using a database of complex and skillful motion. In our proposed planner, if a skillful motion is included in the solution path, motion data included in the database is used. In this paper, we first explain the three-layered structure of the motion data. Then, we explain the proposed grasp/assembly planner. Finally, we show a numerical example to confirm the effectiveness of our proposed method.
- Copyright
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
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TY - JOUR AU - Kensuke Harada AU - Natsuki Yamanobe AU - Weiwei Wan AU - Kazuyuki Nagata AU - Ixchel G. Ramirez-Alpizar AU - Tokuo Tsuji PY - 2019 DA - 2019/03/30 TI - Motion-Data Driven Grasp/Assembly Planner JO - Journal of Robotics, Networking and Artificial Life SP - 232 EP - 235 VL - 5 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190220.005 DO - 10.2991/jrnal.k.190220.005 ID - Harada2019 ER -