Development of autonomous grasping and navigating robot

Hiroyuki Kudoh; Keisuke Fujimoto; Yasuichi Nakayama

doi:10.1117/12.2078511

8 February 2015 Development of autonomous grasping and navigating robot

Hiroyuki Kudoh, Keisuke Fujimoto, Yasuichi Nakayama

Proceedings Volume 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques; 94060H (2015) https://doi.org/10.1117/12.2078511
Event: SPIE/IS&T Electronic Imaging, 2015, San Francisco, California, United States

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.

Citation Download Citation

Hiroyuki Kudoh, Keisuke Fujimoto, and 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); https://doi.org/10.1117/12.2078511

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