8 February 2015 Development of autonomous grasping and navigating robot
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Abstract
The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.
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Hiroyuki Kudoh, Keisuke Fujimoto, Yasuichi Nakayama, "Development of autonomous grasping and navigating robot", Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 94060H (8 February 2015); doi: 10.1117/12.2078511; https://doi.org/10.1117/12.2078511
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