未知物体の同時的なモデル推定と操作

抄録

In this study, we propose a method of modeling unknown objects using a dual-arm robot with a depth sensor installed on the head. In the proposed method, the posture of an object is changed by dual-arm manipulation , to obtain the shape information on the occluded part. First, the posture of the object is changed by pushing to obtain the point cloud of the occluded part with the depth sensor. Then the graspable plane is detected and the object is grasped to obtain the point cloud including the bottom surface of the object. Re-gripping is performed until the object can be placed such that the bottom faces upward. We further acquire the point cloud on the bottom and integrate the obtained point cloud. We evaluate the completeness of the model and the versatility of the operation by experiments.