複数種類のグリッパを考慮したパッキングのための把持動作計画

抄録

This paper proposes a method for packing various objects into a container by a robot. Assuming multiple kinds of grippers to pick an object, we place each object stably into a container with checking the IK and the collision with neighboring objects. Suboptimal packing is realized by using the BL method along with the IK and collision checking. We finally fill the extra space with cushioning material. The effectiveness of our proposed method is confirmed by simulation results.