| Presentation | 2022-12-15 ロボットのスキル学習を用いたピック&オペレーションシステムの構築 Yuki Taya, Rin Takano, Hiroyuki Oyama, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In order for a robot to perform a given task instruction, it is important for the robot to correctly recognize the targets and to operate the work targets according to the task contents. In this paper, we construct a system that estimates the 6D-pose, and size of the target, and performs task motion planning using learned robot skills with perform the work instruction. We also demonstrate the effectiveness of the robot skill learning by using an operation task including posture transformation with learned pick&place skills. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Task and Motion Planning / Robot Control / Skill Learning / Pose Estimation |
| Paper # | PRMU2022-37 |
| Date of Issue | 2022-12-08 (PRMU) |
| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2022/12/15(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Toyama International Conference Center |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Seiichi Uchida(Kyushu Univ.) |
| Vice Chair | Takuya Funatomi(NAIST) / Mitsuru Anpai(Denso IT Lab.) |
| Secretary | Takuya Funatomi(CyberAgent) / Mitsuru Anpai(Univ. of Tokyo) |
| Assistant | Nakamasa Inoue(Tokyo Inst. of Tech.) / Yasutomo Kawanishi(Riken) |
| Paper Information | |
| Registration To | Technical Committee on Pattern Recognition and Media Understanding |
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| Language | JPN-ONLY |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | |
| Sub Title (in English) | |
| Keyword(1) | Task and Motion Planning |
| Keyword(2) | Robot Control |
| Keyword(3) | Skill Learning |
| Keyword(4) | Pose Estimation |
| Keyword(5) | |
| 1st Author's Name | Yuki Taya |
| 1st Author's Affiliation | NEC Corporation(NEC) |
| 2nd Author's Name | Rin Takano |
| 2nd Author's Affiliation | NEC Corporation(NEC) |
| 3rd Author's Name | Hiroyuki Oyama |
| 3rd Author's Affiliation | NEC Corporation(NEC) |
| Date | 2022-12-15 |
| Paper # | PRMU2022-37 |
| Volume (vol) | vol.122 |
| Number (no) | PRMU-314 |
| Page | pp.pp.29-33(PRMU), |
| #Pages | 5 |
| Date of Issue | 2022-12-08 (PRMU) |