Abstract
In this paper, we focus on dual-armed humanoid robot manipulation system to aquire 3D appearance model of hand held objects. To recognize objects from multiple viewpoints, we human and humanoid robot have to know 3D appearance model with little occlusion. To tackle this problem, we choose a method to change grasp arm to the other. The keypoints in changing grasp arm are (1) next grasp position candidates calculation, (2) next grasp position choice for observation from many viewpoints, and (3) inverse kinematics calculation for humanoid robot with multiple end effector.
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