{"created":"2023-05-15T12:31:13.335222+00:00","id":790,"links":{},"metadata":{"_buckets":{"deposit":"a1afe7a3-30d3-457c-8532-4e0cd18d2740"},"_deposit":{"created_by":6,"id":"790","owners":[6],"pid":{"revision_id":0,"type":"depid","value":"790"},"status":"published"},"_oai":{"id":"oai:fit.repo.nii.ac.jp:00000790","sets":["256:305:389"]},"author_link":["3655","3656","3433","3437","3657","3435"],"item_3_alternative_title_23":{"attribute_name":"タイトル（ヨミ）","attribute_value_mlt":[{"subitem_alternative_title":"ヘイバンジョウ ブッタイ ノ ミゾ ハメコミ ドウサ ノ ケイカク － セイゾウギョウ ニ オケル クミタテ サギョウ ノ ジドウカ ニ カンスル イチ シュホウ －"}]},"item_3_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2022-10-31","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"54","bibliographicPageStart":"49","bibliographicVolumeNumber":"5","bibliographic_titles":[{"bibliographic_title":"福岡工業大学総合研究機構研究所所報"}]}]},"item_3_description_17":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_3_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"This paper studies robotic insertion planning for board-like objects as an assembly primitive motion. Assembly of industrial parts in mass production is a bottleneck for factory automation because such a complicated and combined task requires robots to handle various parts, including deformable objects. In addition, synthesizing these primitive motions for assembly and other supplemental equipment is essential, for example, parts feeding and work transfer. This paper briefly summarizes the trend of robotic assembly research and competitions. It also introduces our perception and planning method for the insertion task by a robotic manipulator and a depth camera. 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