ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	日本語
発表タイトル	ひもの形状モデリングと距離カメラを用いた認識
会議名	ロボティクス・メカトロニクス講演会2015
学会区分	全国規模の学会
発表形式	ポスター掲示
講演区分	一般
発表者・共同発表者	◎白川智也, 向井啓祐, 松野隆幸, 矢納陽, 見浪護
発表年月日	2015/05
開催地 （都市, 国名）	京都, 日本
概要	The deformable object such as string, cloth or paper, is soft and can change its form easily. It is difficult for a robot to manipulate deformable object, because it needs to deal with various form. The demand is growing in industry and domestic work. On manipulating deformable objects using robot manipulator, it is important to recognize their form. In this research, distance camera is used to get point cloud data of string. In addition, point chain model is adapted to describe form of string. To create point chain model from point cloud data, vector sequence that describes center line of string needs to be made. Therefore string form recognition algorithm is suggested. This algorithm estimates center line of string using surface normal vectors evaluated by normal estimation algorithm, and creates point chain model by matching method. In addition, experiment to evaluate the effectiveness of this method is conducted.