Realization of Trash Separation of Bottles and Cans for Humanoids using Eyes, Hands and Ears

Abstract

For humanoid robots which act in daily life environments, integration of vision, force and audio sensors are important to achieve various tasks. In this paper, we focus on trash separation behavior for bottles and cans, which is one of hard problems because sensor patterns would be widely changed. In such situation, not only using passive sensors but also acquisition of advanced sensor information by active behavior such as grasping bottle, watching in close distance and listening to sound with hitting. In this paper, we propose integration method of these sensors for realization of trash separation task.