著作(論文等)

基本情報

氏名 永田 寅臣
氏名(カナ) ナガタ フサオミ
氏名(英語) NAGATA Fusaomi

論文名

Molded Article Picking Robot Using Image Processing Technique and Pixel-Based Visual Feedback Control

著者名

Kohei Miki, Fusaomi Nagata, Takeshi Ikeda, Keigo Watanabe, Maki K. Habib

掲載誌名等

, Journal of Artificial Life and Robotics,

掲載年月

2021/11/07

Vol. 26,

No. 4,

開始頁

pp. 390

 

終了頁

395,

出版者(日本語)

Springer

出版者(英語)

Springer

発表形態

誌上、オンライン、

概要

Kohei Miki (M1), Fusaomi Nagata, Takeshi Ikeda, Keigo Watanabe, Maki K. Habib, Molded Article Picking Robot Using Image Processing Technique and Pixel-Based Visual Feedback Control, Artificial Life and Robotics, Vol. 26, pp. 390-395, Springer, 2021.

This paper aims to develop a robotic system that is able to find and remove unwanted molded articles, which fell in a narrow metallic mold space. Currently, this task is being supported by skilled workers. The proposed robotic system has the ability to estimate the orientation of articles by using transfer learning-based convolutional neural networks (CNNs). The orientation information is essential and indispensable to realize stable robot picking operations. In addition, pixel-based visual feedback (PBVF) controller is introduced by referring to the center of gravity (COG) position of articles computed by image processing techniques. Hence, it is possible to eliminate the complex calibration between the camera and the robot coordinate systems. The implementation and effectiveness of the pick and place robot are demonstrated, where the conventional calibration of such task is not required.