2015年5月17日
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
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- 記述言語
- 日本語
- 会議種別
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.