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Object Search and Empty Space Detection System for Home Service Robot
http://hdl.handle.net/10228/00009119
http://hdl.handle.net/10228/00009119612557f1-3087-4c6f-8bcb-78d9dbe2f10b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
ICAROB2023_OS17-2.pdf (245.6 kB)
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| Item type | 会議発表論文 = Conference Paper(1) | |||||||||||
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| 公開日 | 2023-03-15 | |||||||||||
| 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 | Object Search and Empty Space Detection System for Home Service Robot | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 著者 |
Shiba, Tomoya
× Shiba, Tomoya× Ono, Tomohiro× 田向, 権
WEKO
6059
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Home service robots have pick-and-place tasks to grasp and carry objects. When performing pick-and-place tasks, robots need to process to search for objects in the case of missing a target object. We propose approaches for the robot to search for a target object from a shelf and a method for selecting empty spaces to move off-target objects. The proposed method is based on two recognition models to select a space and plan motions. The object is to be moved and the space is selected based on the size and position of empty spaces. In the experiments, the robot planned actions to search for a target object from a shelf and to place an object near a group of similar objects. We used these in the RoboCup@Home competition to evaluate the effectiveness of the proposed method. | |||||||||||
| 備考 | ||||||||||||
| 内容記述タイプ | Other | |||||||||||
| 内容記述 | The 2023 International Conference on Artificial Life and Robotics (ICAROB 2023), February 9-12, 2023, on line, Oita, Japan | |||||||||||
| 書誌情報 |
Proceedings of International Conference on Artificial Life & Robotics (ICAROB2023) 発行日 2023 |
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| 出版社 | ||||||||||||
| 出版社 | ALife Robotics | |||||||||||
| DOI | ||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.5954/ICAROB.2023.OS17-2 | |||||||||||
| ISBN | ||||||||||||
| 識別子タイプ | ISBN | |||||||||||
| 関連識別子 | 978-4-9908350-8-8 | |||||||||||
| 著作権関連情報 | ||||||||||||
| 権利情報 | Copyright (c) The 2023 International Conference on Artificial Life and Robotics (ICAROB2023) | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Home service robot | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | mobile manipulator | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | Object detection | |||||||||||
| キーワード | ||||||||||||
| 主題Scheme | Other | |||||||||||
| 主題 | RoboCup@Home | |||||||||||
| 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 | |||||||||||
| 研究者情報 | ||||||||||||
| URL | https://hyokadb02.jimu.kyutech.ac.jp/html/100000641_ja.html | |||||||||||
| 論文ID（連携） | ||||||||||||
| 値 | 10406477 | |||||||||||
| 連携ID | ||||||||||||
| 値 | 11094 | |||||||||||
