日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
飲料缶・ボトル類を目と手と耳で分別廃棄するヒューマノイド行動の実現
稲邑 哲也古城 直樹畑尾 直孝得津 覚藤本 純也園田 朋之岡田 慧稲葉 雅幸
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2007 年 25 巻 6 号 p. 813-821

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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.

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