モバイルマニピュレーターによる曲面清掃を目指したB-spline曲線を用いた拭き動作の実現

抄録

Robotic vacuum cleaners have become widespread to sweep the floor. It is important to wipe objects on the floor to clean the house up, but there are some curved objects such as a toilet bowl or a kitchen sink. If the curved surface of an object can be expressed mathematically, the trajectory to wipe the surface will be obtained. In this research, a mobile manipulator with an RGB-D camera was selected to collect point cloud data and handle cleaning tools. The point cloud model of a toilet bowl was created, and the trajectory using a B-spline curve was generated. In experiments, Toyota ’s Human Support Robot was used, and the cleanness of the toilet bowl was evaluated by reference to the rule of a robot competition (i.e., World Robot Summit). As a result, the authors confirmed that the scrubbing movement, part of the wiping movement, should be improved.