Unknown Object Detection by Punching: An Impacting-Based Approach to Picking Novel Objects

  • Yusuke MaedaEmail author
  • Hideki Tsuruga
  • Hiroyuki Honda
  • Shota Hirono
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


In this paper, a method for unknown object detection based on impacting and keypoint tracking is presented. In this method, a robot perturbs object positions by punching the floor on which the objects are placed, to detect each of the objects individually from camera images before and after the punching. The detection method utilizes consistent movements of the keypoints of each object according to its rigid-body motion. After the detection, a grasp of each of the detected objects is planned based on extracting its two parallel edges. The proposed method is successfully applied to picking up of mahjong tiles by an industrial manipulator.


Interactive perception Segmentation Picking 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yusuke Maeda
    • 1
    Email author
  • Hideki Tsuruga
    • 2
  • Hiroyuki Honda
    • 2
  • Shota Hirono
    • 2
  1. 1.Faculty of EngineeringYokohama National UniversityYokohamaJapan
  2. 2.Graduate School of EngineeringYokohama National UniversityYokohamaJapan

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