WEKO3
アイテム
Grasping motion for small non-rigid food using instance semantic segmentation
http://hdl.handle.net/10228/00008276
http://hdl.handle.net/10228/00008276d247c272-7298-430c-98d0-4e40c451155c
| 名前 / ファイル | ライセンス | アクション |
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sociorobo_5.pdf (591.1 kB)
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| アイテムタイプ | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2021-05-25 | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||||||||
| 資源タイプ | conference paper | |||||||||||
| タイトル | ||||||||||||
| タイトル | Grasping motion for small non-rigid food using instance semantic segmentation | |||||||||||
| 言語 | en | |||||||||||
| その他のタイトル | ||||||||||||
| その他のタイトル | Grasping Motion for Small Non-Rigid Food Using Instance Semantic Segmentation | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
Tulapornpipat, Wiwat
× Tulapornpipat, Wiwat× Pimpin, Alongkorn× Chumkamon, Sakmongkon× 林, 英治
WEKO
30038
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | The importance of food automation becomes a challenge in this era since food is an essential factor for humans. In this paper, we designed the robot framework to autonomously generate grasping motion for non-rigid food objects. The system could recognize and localize objects and target regions for pick-and-place rather than only the position. Assembling a lunch box with different food required advance in both hardware and software to create an efficient process. The robot platform based on a seven-axis industrial robot arm equipped with instance segmentation based on Cascade Mask R-CNN for Japanese food. A modular end effector was designed and prototyped to facilitate soft gripper and vacuum pad on the single unit, which allows the system to handle different food objects. In the experiment, we also evaluated the performance of pick-and-place process. The system can successfully pick-and-place food into a lunch box with an outcome successful rate of 90%. | |||||||||||
| 備考 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | The Society of Instrument and Control Engineers (SICE) Annual Conference 2020 (SICE2020), September 23-26, 2020, Chiang Mai, Thailand （新型コロナ感染拡大に伴い、現地開催中止） | |||||||||||
| 書誌情報 |
Proceedings of the SICE Annual Conference 2020 p. 1540-1545, 発行日 2020-09 |
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| 出版社 | ||||||||||||
| 出版社 | 計測自動制御学会 | |||||||||||
| ISBN | ||||||||||||
| 識別子タイプ | ISBN | |||||||||||
| 関連識別子 | 978-4-907764-68-5 | |||||||||||
| 著作権関連情報 | ||||||||||||
| 権利情報 | Copyright (c) 2020 SICE | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Instance semantic segmentation | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Motion planning and Factory automation | |||||||||||
| 出版タイプ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
| 査読の有無 | ||||||||||||
| 値 | yes | |||||||||||
| 連携ID | ||||||||||||
| 値 | 8859 | |||||||||||
