家庭用品の相互関係に基づくホームロボットによる椅子の片づけ動作の計画

抄録

In order for a home robot to manipulate household objects such as furniture and home appliances, it is necessary to know the internal state of the target object and the interactive relationship with other related objects of its manipulation. We focus on the task of tidying up among multiple house tasks expected to be realized by home robots. In tidying up an office chair, it is necessary to flexible plan a motion generation considering the interactive relationship between office chairs and desks, such as storage areas and combinations. This paper addresses an autonomous motion planning of tidying up a chair considering the positional relationship between a robot, a desk and a chair.