Path planning based on direct perception for unknown object grasping

Abstract

This paper discusses a robot path planning based on the sensation of grasping for a service robot. The previous method should recognize the accurate physical parameters to grasp an unknown object. Hence, we propose the path planning by the sensation of grasping for a decreasing of computational costs. The sensation of grasping affords the possibility of action to a robot directly without inference from physical information. The sensation of grasping is explained by an inertia tensor of three-dimensional point cloud and a fuzzy inference. The proposed method involves an unknown object detection by a depth sensor, and the path planning based on the sensation of object grasping that is determined by the characteristic of the robot and the state of the object. As experimental results, we show that the robot can grasp the unknown object which the robot arm cannot reach on the table due to the movement to the position suitable for the object grasping.