1A1-E12 自己介護用ロボット"Kitasap2"の開発 : ロボットアームによる物体の自動把持に関する研究

抄録

This paper describes the development of Kitasap2, a self cure robot which was developed to support people with mobility problems. It can be manually operated using a joystick and autonomously move as well. Kitasap2's system consists of the host computer and the physical body of the robot equipped with a robotic ann. Both are connected through a wireless LAN. A test was successfully conducted to autonomously move from the user's site to a goal and manually pick up an object, and autonomously carry it back to the user. Moreover, this paper describes the research of automatic holding of the object that using a robotic ann. As a result, it came to be able to hold the object automatically by instructing and recognizing the object using the image from two kinds of cameras.