複雑な環境下における目標物体の取り出し動作計画

抄録

This paper proposes a method for retrieving a target object by a robot in a complex environment. In such an environment, it becomes difficult to observe the state of the target object owing to occlusion, and to grasp it. In this work, we propose a method for selecting the viewpoint to observe the occlusion part of the target object by using RGB-D images and selecting the motion from grasping/dragging to extract the target object according to the situation. Finally, we confirmed that a robot can retrieve a certain target from the complex environments.