片付けロボットの未知物体検出と把持感覚量の計算手法に関する研究

抄録

In this study, we developed a tidying robot using parameter called the ease of grasping for judgment of whether possible to grasp unknown object. It is possible to presume of position based on the ease of grasping and do the autonomic action and the object grasping. The autonomous operation uses a motion control system to move the robot to the target coordinates decided by the ease of grasping. The ease of grasping can be estimated by fuzzy reasoning using the main moment of inertia of the target object. We confirmed the effectiveness of the ease of grasping and motion control system in tidying work by experiment of tidying-up action.