2022 年 40 巻 9 号 p. 837-840
With the shortage of labor in construction sites, in previous work, we have developed an automatic construction material handling robot. However, for tasks such as cart latching, the target is not fixed to a specific location, and the performance of relative pose estimation may be poor. In this study, we propose a method for recognizing a cart in an arbitrary posture and a hybrid control method for the cart latching. The presented approach has been evaluated in real construction sites.