| Presentation | 2021-01-22 Verification of a Visuomotor Integration Model for Grasping the Cups of Different Sizes with a Multi-Fingered Robot Hand Motoi Matsuda, Naohiro Fukumura, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Object recognition and object grasping using image recognition methods have been actively researched, but most of them classify limited objects given as supervised learning and determine the gripping shape. In this study, a real robot hand with four fingers is used to grasp a cup of different size by multiple hand shapes. The modular auto-encoder that inputs the images of the cup and the shape of the hand at the same time is trained. After the learning, we confirmed that the size of the cups that is the features of the object is extracted. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Object Grasping / Object Recognition / Neural Network Model / Auto-Encoder / Feature Extraction |
| Paper # | NC2020-36 |
| Date of Issue | 2021-01-14 (NC) |
| Conference Information | |
| Committee | NC / NLP |
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| Conference Date | 2021/1/21(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Online |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | NC，NLP |
| Chair | Kazuyuki Samejima(Tamagawa Univ) / Kiyohisa Natsume(Kyushu Inst. of Tech.) |
| Vice Chair | Rieko Osu(Waseda Univ.) / Takuji Kosaka(Chukyo Univ.) |
| Secretary | Rieko Osu(NTT) / Takuji Kosaka(ATR) |
| Assistant | Ken Takiyama(TUAT) / Nobuhiko Wagatsuma(Toho Univ.) / Toshikaza Samura(Yamaguchi Univ.) / Hideyuki Kato(Oita Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Neurocomputing / Technical Committee on Nonlinear Problems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Verification of a Visuomotor Integration Model for Grasping the Cups of Different Sizes with a Multi-Fingered Robot Hand |
| Sub Title (in English) | |
| Keyword(1) | Object Grasping |
| Keyword(2) | Object Recognition |
| Keyword(3) | Neural Network Model |
| Keyword(4) | Auto-Encoder |
| Keyword(5) | Feature Extraction |
| 1st Author's Name | Motoi Matsuda |
| 1st Author's Affiliation | Toyohashi University of Technology(Toyohashi Univ. of Tech) |
| 2nd Author's Name | Naohiro Fukumura |
| 2nd Author's Affiliation | Toyohashi University of Technology(Toyohashi Univ. of Tech) |
| Date | 2021-01-22 |
| Paper # | NC2020-36 |
| Volume (vol) | vol.120 |
| Number (no) | NC-331 |
| Page | pp.pp.24-28(NC), |
| #Pages | 5 |
| Date of Issue | 2021-01-14 (NC) |