Abstract
A compact sized indoor mobile robot is developed, which consists of an omni-directional platform and two 6DOF manipulators. A path planning method is proposed, in which an inscribed circle of adjacent three way-points is utilized. A generic object recognition method based on its shape concept is proposed. In this article, not only size information but also aspect ratio information and other object-specific information, e.g., a cup has a hollow space, are taken into account as object shape concepts. The recognition rate was improved by applying the proposed method, i.e., approximately from 50 to 80% in case of small mag cup.
