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This paper proposes a method for planning a grasping posture for a parallel gripper attached at the tip of a robot manipulator. In order to robustly grasp several objects with various shapes, we consider a gripper having flexible sheets attached at the finger surface. We show that, by constructing a set of triangular mesh of the grasped object's polygon model, we can plan the grasping posture taking...
This paper presents a grasping system for picking up an indicated object in a complex real-world environment using a parallel jaw gripper. The proposed grasping scheme comprises the following three main steps: (1) A user indicates a target object and provides the system with a task instruction on how to grasp it, (2) the system acquires geometric information about the target object and constructs...
This paper introduces the construction of a behavior level operation system for humanoid robots. One of the future applications for humanoid robots is to serve in environments like homes or offices. These places are partially-unknown environments where some knowledge of the world can be described and stored in the system before hand. A heuristic methodology utilizing an online operation system to...
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