An Integrated System for Clearning up the Tableware with Stacking Strategy

Abstract

Clearning up the tableware is a common task in home environments and restaurants. Automation of them would reduce the number of workers and compensate for many labor shortages. The purpose of this work is to propose an integrated system for a robot to manipulate the tableware onto a tray. Visual function of our system not only detects the objects on the table and determine the types of the tableware but also find the leavings on the dish. Planning function of our system calculates how to stack and align the tableware on the tray using two types of planner, symbolic planner and geometric planner. The proposed system achieves an efficient manipulation so that makes it possible to carry more dishes at a time. The experimental results proved the effectiveness of our approach.