Path Planning For Object Acquisition Analysis And Distributi

John Turgeson, Taylor Weiss, Joseph (Casey) Rogers

Project Abstract:

Our mission is to select an item from a collection of various object, determine the nature of the item and place each into a more desirable location. In an attempt to acquire a full visualization of the object it will become necessary to set the object on a surface and grasp at an angle allowing features that were previously hidden to be registered. The object can then be placed in a desired location based on it's structure. Applications include sorting of parts in an industrial setting, dishes, clothing and toys in a domestic setting, or debris analysis during post disaster events. Planning will become necessary to move the object in the workspace for visualization, maintaining an unobstructed line of sight to the object, and proper gripping location for analysis of the second half of the object.

Related Work:

M. Krainin, P. Henry, X. Ren, and D. Fox, "Manipulator and object tracking for in-hand 3D object modeling," The International Journal of Robotics Research, July 7, 2011 2011.

O. Khatib, "Real-Time Obstacle Avoidance for Manipulators and Mobile Robots," The International Journal of Robotics Research, vol. 5, pp. 90-98, March 1, 1986 1986.


General Task John Taylor Casey
By Oct 19 Begin working on fundamental requirements. Acquire usable pictures from the kinect. Create 3D models of building objects in Solidworks. Set up project website, research related works, learn Solidworks and Blender.

Oct 19

Simple models created. Related articles listed above. Webpage self evident. Pictures to come.

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