物体形状のグループ化に基づくレーザ光ドラッグ手法を用いた物体把持ロボット指示法

抄録

We have been studying a support robot teaching method to grasp a various shape object in our living space by clicking with a TOF laser pointer. But because the selection of gripping object used for the experiment was ad hoc, the criterion of the grasp-ability for any shape object was unclear. As a result, types of grippable objects had significant limitations. In this paper, as a first step to clarify the criteria, we focused on cuboid as gripping shape, performed comprehensive grouping with respect to three side length ratio, proposed grasp teaching method applicable to each group, and demonstrated its effectiveness.