1A1-M03 Development of compact size mobile robot composed of omnidirectional platform and lightweight arm : calibration of arm kinematic parameters, autonomous movement to a desk, recognition and gripping of object on the desk(Robots for Home/Office Application)

Abstract

A compact size home robot composed of omnidirectional platform and lightweight arm is developed. Kinematic parameters of the 6-DOF arm are calibrated to increase positioning accuracy. The position of a desk in a room is recognized using depth image captured by Kinect sensor. A smooth path to the desk is computationally planned, in which clothoid curves, circles, and straight lines are connected. After reaching the desk side, objects on the desk top are recognized using both color and depth images captured by Kinect sensor. As example of object, a plastic bottle is gripped by the robotic arm. Typical total tasks of home robot to approach and handle the objects are practically realized.