MISC

2015年

2P1-E03 ロボットアームを搭載した室内掃除ロボット

ロボティクス・メカトロニクス講演会講演概要集
  • 平田 鷹志
  • ,
  • 山崎 亘
  • ,
  • カヤオ クリスチャンデウス
  • ,
  • 吉川 雅博
  • ,
  • 池田 篤俊
  • ,
  • 高松 淳
  • ,
  • 小笠原 司

2015
0
開始ページ
_2P1
終了ページ
E03_1-_2P1-E03_3
記述言語
日本語
掲載種別
出版者・発行元
一般社団法人 日本機械学会

Recently, cleaning robots are becoming widely used. However, even if commercially-available cleaning robots can collect dust and small debris on the floor, they can not pick up trash such as PET bottles, cans, etc. We developed a cleaning robot intended for picking trash while dust collecting. This paper describes the architecture of the cleaning robot consisting of hardware such as an RGB-D sensor, a robot arm and a commercially-available cleaning robot, and also software for trash picking such as searching trash from RGB-D image, picking the trash via the robot arm and controlling the cleaning robot. We used commercially-available hardware and open source software such as Robot Operating System (ROS), Point Cloud Libraly (PCL) and so on.

リンク情報
CiNii Articles
http://ci.nii.ac.jp/naid/110010055728
CiNii Resolver ID
http://ci.nii.ac.jp/nrid/9000002407502