1P1-Q04 オープンソースRTCの再利用による双腕サービスロボットシステムの構築(RTミドルウェアとオープンシステム)

池田 篤俊; 高松 淳; 小笠原 司; 大原 賢一; 前 泰志; 新井 健生; 竹村 裕; 溝口 博; 相山 康道; 阪口 健; 松本 吉央

doi:10.1299/jsmermd.2012._1P1-Q04_1

2012

Session ID : 1P1-Q04

DOI https://doi.org/10.1299/jsmermd.2012._1P1-Q04_1

Conference information

1P1-Q04 Dual-arm Servise Robot System Reusing Open Source RTC(RT Middleware and Open System)

Atsutoshi IKEDA, Jun TAKAMATSU, Tsukasa OGASAWARA, Kenichi Ohara, Yasushi MAE, Tatsuo ARAI, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, Yasumichi AIYAMA, Takeshi SAKAGUCHI, Yoshio MATSUMOTO

Author information

Atsutoshi IKEDA
Nara Institute of Science and Technology (NAIST)
Jun TAKAMATSU
Nara Institute of Science and Technology (NAIST)
Tsukasa OGASAWARA
Nara Institute of Science and Technology (NAIST)
Kenichi Ohara
Osaka University
Yasushi MAE
Osaka University
Tatsuo ARAI
Osaka University
Hiroshi TAKEMURA
Tokyo University of Science
Hiroshi MIZOGUCHI
Tokyo University of Science
Yasumichi AIYAMA
Tsukuba University
Takeshi SAKAGUCHI
The National Institute of Advanced Industrial Science and Technology
Yoshio MATSUMOTO
The National Institute of Advanced Industrial Science and Technology

Keywords: OpenRTM, Open source, Dual-arm robot, Service system

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

In this paper, we present a dual-arm service robot system reusing open source RT components. The service robot system has four functions which are user detection, user interface, ordered object recognition and ordered object manipulation. Each function is developed by several groups as an open source RT module. We demonstrate over-the-counter sales of Japanese-style confection in IREX2011.

Corresponding author

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