Hikizu, MasatoshiMikami, ShuSeki, Hiroaki2016-11-142016-11-142016-08Intelligent Control and Automation , 2016, 7, 73- 83http://dx.doi.org/10.4236/ica.2016.73008http://hdl.handle.net/123456789/1239In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.en3-D Point CloudBin PickingICP AlgorithmMotion PlanningArticle