ロボットミドルウェアにおける物体認識・リーチングのためのフレームワークの提案

抄録

In this study, we propose a framework for object recognition and reaching motion in robot systems with robot middleware. There exist many elemental technologies for robot manipulation system such as object recognition and reaching. However, each technology is not systematically integrated for component-based development as open and common frameworks are undeveloped. In order to realize systematic integration of object recognition and reaching motion, we built a framework of robot middleware and proposed it as open framework. This framework is oriented reusable, exchangeable and extensible system and does not depend on specific robot middleware platforms. We implemented the proposed framework in a pick-and-place system with robot arm, and validate the system working.