Handling of Objects with Marks by a Robot

Rie Katsuki (Corresponding author), Jun Ota, Yusuke Tamura, Takahisa Mizuta, Tomomi Kito, Tamio Arai, Tsuyoshi Ueyama, Tsuyoshi Nishiyama

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

30 Citations (Scopus)


This paper presents a robot system for handling various objects in home or office environments (see video). A fixed manipulator utilizes marks on objects for handling and motion planning. A mark consists of two parts. One is the outer part, which indicates its pose (In this paper, "pose" denotes 3D position and orientation.), and the other is a QR code, which is a kind of 2D barcode. A QR code is stored information of an object (e.g. its name). A user attaches several marks on each object. The manipulator accesses the information using a camera in its hand. The robot can decide its complex handling motion based on the information in QR codes, pose of the objects, which are estimated from pose of marks, and signals from proximity sensors. Experiments are conducted to verify the whole system. Manipulation, Motion planning, Artificial mark, Sensor, Measurement.

Original languageEnglish
Title of host publication Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003)
PublisherIEEE Institute of Electrical and Electronic Engineers
Number of pages6
ISBN (Print)0-7803-7860-1
Publication statusPublished - 2003
MoE publication typeA4 Article in a conference publication
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 27 Oct 200331 Oct 2003


Conference2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/TerritoryUnited States
CityLas Vegas, NV


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