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| Presentation | 2019-01-17 17:00 Recalling candidates of gripping hand shapes from an object image using neural network Makoto Sanada, Tadashi Matsuo, Nobutaka Shimada, Yoshiaki Shirai (Ritsumeikan Univ.)  PRMU2018-103 MVE2018-45 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Robots are required to support people’s work. In order to alleviate the burden on people, it is desirable that robot can automatically generate and execute complicated motions according to simple directions from human. However, there are a plurality of grasping methods for one object. In order to select a motion suitable for the direction, it is important to estimate grasping method candidates for the object. In this research, we purpose to recall candidates of grasping position and hand shape from an object image. In learning, a network that outputs a plurality of grasping method candidates for one object image to each channel of a multi-channel image is used. At this time, a plurality of grasping methods are not learned at same time, learned one by one. The similar grasping method for the similar object shape is automatically clustered to each output channel in the learning process, and a grasping method having a characteristic difference is presented as a candidate. We show the usefulness of this method using experimental examples. | |
| Keyword | (in Japanese) | (See Japanese page) |
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| Reference Info. | IEICE Tech. Rep., vol. 118, no. 404, PRMU2018-103, pp. 51-55, Jan. 2019. | |
| Paper # | PRMU2018-103 | |
| Date of Issue | 2019-01-10 (PRMU, MVE) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | PRMU2018-103 MVE2018-45 |
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| Conference Information | |
| Committee | PRMU MVE IPSJ-CVIM |
| Conference Date | 2019-01-17 - 2019-01-18 |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | PRMU |
| Conference Code | 2019-01-PRMU-MVE-CVIM |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Recalling candidates of gripping hand shapes from an object image using neural network |
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| 1st Author's Name | Makoto Sanada |
| 1st Author's Affiliation | Ritsumeikan University (Ritsumeikan Univ.) |
| 2nd Author's Name | Tadashi Matsuo |
| 2nd Author's Affiliation | Ritsumeikan University (Ritsumeikan Univ.) |
| 3rd Author's Name | Nobutaka Shimada |
| 3rd Author's Affiliation | Ritsumeikan University (Ritsumeikan Univ.) |
| 4th Author's Name | Yoshiaki Shirai |
| 4th Author's Affiliation | Ritsumeikan University (Ritsumeikan Univ.) |
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| Speaker | Author-1 |
| Date Time | 2019-01-17 17:00:00 |
| Presentation Time | 15 minutes |
| Registration for | PRMU |
| Paper # | PRMU2018-103, MVE2018-45 |
| Volume (vol) | vol.118 |
| Number (no) | no.404(PRMU), no.405(MVE) |
| Page | pp.51-55 |
| #Pages | 5 |
| Date of Issue | 2019-01-10 (PRMU, MVE) |
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