File:IEEE 2003 Handling of Objects with Marks by a Robot.pdf

Summary

This p q e r presents a robot system for handling various objects in home or o@ce environments (see video). A fued manipulator utilizes marks on objects for handling and motion planning. A mark consists of two paris. One is the outer pari, which indicates its pose (In this paper, ‘>pose” denotes 3Dposifion and orientation.), and the other is a QR code, which is a kind of2D barcode. A QR code is stored infirmation ofan object (e.g. its name). A user aftaches several marks on each object. The manipulator accesses the information using a camera in its hand The robot con decide itr complex handling motion based on the infirmation in QR codes. pose of the ot$ects, which are esfimatedfrom pose of marks, and signals from proximiv sensors. Experiments are conducted to ve& the whole system.