ヒューマノイドによるコンビニ陳列・廃棄タスクにおけるフック吊り下げ商品の認識操作の実現

抄録

The World Robot Summit defined the ”Stocking and Disposing Tasks” as a part of its Future Convenience Store Challenge. So far, most participants who execute these tasks worked under an environment where the products to be manipulated are placed on a horizontal plane, such as on a shelf. However, in a real convenience store, this is not always the case. In this study, we focus on products that are hanged on a vertical plane by hooks. We use recognition to allocate the hole on the package, and find the position of the hook indirectly by AR marker. Finally, we showed the manipulation result through experiments by using a humanoid robot.