Autonomous Gripping and Carrying Method Based on Plane Detection of Polyhedral Shaped Object by a Mobile Robot with Twin Arms

Abstract

Recently, it is highly expected that robots work instead of human in a dangerous site such as disaster area. Sufficient working ability is required for such robots as well as moving ability. Thus, we have presented a method for autonomous gripping and carrying of a polyhedral shaped object by a mobile robot with twin arms based on plane detection in our earlier study. However, in this method, it is necessary to give the positions to observe the object in advance. Therefore, we aim to present a method for calculating observation positions, and to increase working ability of the robot. We apply the method to a quadruped tracked robot and verify its effectiveness in an experiment for autonomous gripping and carrying of a box shaped object.