2A2-A18 PR2の認識・把持・移動機能統合による日用物品片付け行動の実現

抄録

This paper reports about system integration of PR2, and demonstration of tidying up rooms. Several daily objects such as a tray, a dish and washed clothes are targeted by the robot, object collection task were performed. ROS based software applications developed by Willow Garage inc. were used to this development. Vision sensors and software around them were used to specify handled objects, inverse kinematics and motion planning libralies were used to decide the motion of the robot arm. Navigation functions based on LRFs were also applied to proof safety wheelbase motion.