Authors
Kensuke Harada1, 2, *, Natsuki Yamanobe2, Weiwei Wan1, 2, Kazuyuki Nagata2, Ixchel G. Ramirez-Alpizar1, Tokuo Tsuji3
1
Graduate School of Engineering Science, Osaka University, Toyonaka 560-8531, Japan
2
Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8568, Japan
3
Institute of Science and Technology, Kanazawa University, Kadoma-cho, Kanazawa 920-1192, Japan
*
Corresponding author. Email: [email protected]
Corresponding Author
Kensuke Harada
Received 18 October 2018, Accepted 21 November 2018, Available Online 30 March 2019.
DOI
https://doi.org/10.2991/jrnal.k.190220.005How to use a DOI?
Keywords
Robotic assembly; motion planning; skillful motion; database
Abstract
This paper proposes a robotic grasp/assembly planner using a database of complex and skillful motion. In our proposed planner, if a skillful motion is included in the solution path, motion data included in the database is used. In this paper, we first explain the three-layered structure of the motion data. Then, we explain the proposed grasp/assembly planner. Finally, we show a numerical example to confirm the effectiveness of our proposed method.

Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).