1P1-H09 Action control by Using Map Representation Based on Variation of Visual Feature by Robot's Movement and Manipulation(Localization and Mapping (2))

Abstract

We aim at a robot that searches and memorizes places of domestic objects and finds them again. It is necessary for the robot to manipulate an environment such as opening a drawer for reaching objects such as hidden objects in the drawer. We think that the location of the robot should be represented not based on Cartesian coordinates but based on the visual features, because the robot's action to find hidden objects varies by the state of each environment. The robot will reach the place of the memorized object by the action based on the integrated memory of movement and manipulation when the robot finds the object. This paper describes the method of the integrated memory of robot's movement and manipulation, and the action to reach the hidden object based on the memory.