ヤマザキ ヨシアキ
  山崎 芳昭
   所属   理工学部 総合理工学科(機械工学系)
   職種   教授
言語種別 英語
発行・発表の年月 2019/09
形態種別 学術雑誌
査読 査読あり
標題 Autonomous valve operation by a manipulator using a monocular camera and a single shot multibox detector
執筆形態 共著
掲載誌名 Proceedings of the IEEE International Conference on Safety, Security, and Rescue Robotics (SSRR2019)
掲載区分国外
巻・号・頁 pp.0055_FI-1-0055_FI-6
総ページ数 6
著者・共著者 H. Hagiwara
概要 We used a 6-DOF manipulator equipped with a monocular camera to autonomously operate a valve. The valve was detected using an SSD and the camera. We calculated valve positions using diagonal lengths over the detection range. We defined the errors between the calculated and actual positions and used these to render the positional co-ordinates more accurate. The manipulator autonomously grasped and turned the valve. In the future, the robot will identify valves from the side, as well as doorknobs.