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Conference Paper: Optimizing the parameters of tilting surfaces in robotic workcells

TitleOptimizing the parameters of tilting surfaces in robotic workcells
Authors
KeywordsScheduling and Optimization
Emerging Topics in Automation
Issue Date2015
PublisherIEEE. The Conference program's website is located at https://ras.papercept.net/conferences/conferences/CASE15/program/
Citation
The 2015 IEEE International Conference on Automation Science and Enginnering (CASE 2015), Gothenberg, Sweden, 24-28 August 2015. How to Cite?
AbstractPick-and-place regrasp is an important grasp and manipulation skill for a robot to rearrange the world around it. This paper discusses how to design a tilted work surface for robotic workcells so that the robot inside the cell can improve its pick-and-place regrasps. In particular, the workcell design is guided by two heuristics, which simultaneously increase the number of stable placements of the objects to be grasped and the gripper's manipulability. We leverage regression techniques to compute a continuous function for fitting the multiplication of these two heuristics, and then maximize the fitted function for optimizing the parameters of tilted surfaces in a workcell. Experiments on using tilted surfaces to improve the stability and manipulability of various objects validate our approach. © IEEE Robotics & Automation Society.
DescriptionPaper Tu_3-T5.6
Persistent Identifierhttp://hdl.handle.net/10722/211513

 

DC FieldValueLanguage
dc.contributor.authorWan, WW-
dc.contributor.authorCheung, ECH-
dc.contributor.authorPan, J-
dc.contributor.authorHarada, K-
dc.date.accessioned2015-07-16T03:04:35Z-
dc.date.available2015-07-16T03:04:35Z-
dc.date.issued2015-
dc.identifier.citationThe 2015 IEEE International Conference on Automation Science and Enginnering (CASE 2015), Gothenberg, Sweden, 24-28 August 2015.-
dc.identifier.urihttp://hdl.handle.net/10722/211513-
dc.descriptionPaper Tu_3-T5.6-
dc.description.abstractPick-and-place regrasp is an important grasp and manipulation skill for a robot to rearrange the world around it. This paper discusses how to design a tilted work surface for robotic workcells so that the robot inside the cell can improve its pick-and-place regrasps. In particular, the workcell design is guided by two heuristics, which simultaneously increase the number of stable placements of the objects to be grasped and the gripper's manipulability. We leverage regression techniques to compute a continuous function for fitting the multiplication of these two heuristics, and then maximize the fitted function for optimizing the parameters of tilted surfaces in a workcell. Experiments on using tilted surfaces to improve the stability and manipulability of various objects validate our approach. © IEEE Robotics & Automation Society.-
dc.languageeng-
dc.publisherIEEE. The Conference program's website is located at https://ras.papercept.net/conferences/conferences/CASE15/program/-
dc.relation.ispartofIEEE International Conference on Automation Science and Enginnering, CASE 2015-
dc.rightsIEEE International Conference on Automation Science and Enginnering, CASE 2015. Copyright © IEEE.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectScheduling and Optimization-
dc.subjectEmerging Topics in Automation-
dc.titleOptimizing the parameters of tilting surfaces in robotic workcells-
dc.typeConference_Paper-
dc.identifier.emailCheung, ECH: ernest1@hku.hk-
dc.identifier.emailPan, J: jpan@cs.hku.hk-
dc.identifier.authorityPan, J=rp01984-
dc.identifier.hkuros244993-
dc.publisher.placeUnited States-

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