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| Presentation | 2020-03-05 16:30 Study of Autonomous Door-Handle Operation by a Disaster Response Robot Using RGB-D Camera Image Im Jeonghwang, Takuya Knada, Kazuya Miyakawa, Jun Ohya (Waseda Univ), Hiroyuki Ogata (Seikei Univ), Kenji Hashimoto (Meiji Univ), Sun Xiao, Takashi Matsuzawa, Hiroshi Naitou, Atsuo Takanishi (Waseda Univ)  IMQ2019-27 IE2019-109 MVE2019-48 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | In recent years, the demand for robots to work in place of humans in dangerous disaster sites has been increasing. At the disaster site, the communication status may not be good, and manual control by the operator may hinder task execution. Therefore, autonomous control based on sensing technology is required. This paper aims at realizing autonomous door-handle operation as one of the work functions of a disaster response robot. By using a 3D point cloud that can detect the target door and door-handle from the RGB-D camera mounted on the robot, we propose a method of approaching the range where the door-handle can be operated and a method of estimating the gripping position necessary for performing the operation. The results suggesting the effectiveness of the proposed method were obtained through simulations Gazebo and actual experiments. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | disaster response robot / autonomous work / object detection / pointcloud processing / door-handle operation / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 119, no. 456, IE2019-109, pp. 63-67, March 2020. | |
| Paper # | IE2019-109 | |
| Date of Issue | 2020-02-27 (IMQ, IE, 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 | IMQ2019-27 IE2019-109 MVE2019-48 |
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| Conference Information | |
| Committee | IE IMQ MVE CQ |
| Conference Date | 2020-03-05 - 2020-03-06 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Kyushu Institute of Technology |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | IE |
| Conference Code | 2020-03-IE-IMQ-MVE-CQ |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Study of Autonomous Door-Handle Operation by a Disaster Response Robot Using RGB-D Camera Image |
| Sub Title (in English) | |
| Keyword(1) | disaster response robot |
| Keyword(2) | autonomous work |
| Keyword(3) | object detection |
| Keyword(4) | pointcloud processing |
| Keyword(5) | door-handle operation |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Im Jeonghwang |
| 1st Author's Affiliation | Wadeda University (Waseda Univ) |
| 2nd Author's Name | Takuya Knada |
| 2nd Author's Affiliation | Wadeda University (Waseda Univ) |
| 3rd Author's Name | Kazuya Miyakawa |
| 3rd Author's Affiliation | Wadeda University (Waseda Univ) |
| 4th Author's Name | Jun Ohya |
| 4th Author's Affiliation | Wadeda University (Waseda Univ) |
| 5th Author's Name | Hiroyuki Ogata |
| 5th Author's Affiliation | Seikei University (Seikei Univ) |
| 6th Author's Name | Kenji Hashimoto |
| 6th Author's Affiliation | Meiji University (Meiji Univ) |
| 7th Author's Name | Sun Xiao |
| 7th Author's Affiliation | Wadeda University (Waseda Univ) |
| 8th Author's Name | Takashi Matsuzawa |
| 8th Author's Affiliation | Wadeda University (Waseda Univ) |
| 9th Author's Name | Hiroshi Naitou |
| 9th Author's Affiliation | Wadeda University (Waseda Univ) |
| 10th Author's Name | Atsuo Takanishi |
| 10th Author's Affiliation | Wadeda University (Waseda Univ) |
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| Speaker | Author-1 |
| Date Time | 2020-03-05 16:30:00 |
| Presentation Time | 25 minutes |
| Registration for | IE |
| Paper # | IMQ2019-27, IE2019-109, MVE2019-48 |
| Volume (vol) | vol.119 |
| Number (no) | no.454(IMQ), no.456(IE), no.457(MVE) |
| Page | pp.63-67 |
| #Pages | 5 |
| Date of Issue | 2020-02-27 (IMQ, IE, MVE) |
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