双腕ロボットによるボタンかけ動作の実現

―サブタスクに分割したタスク動作設計とマーカ認識による各動作の実行―

抄録

In this study, we propose a robotic buttoning task by a dual-arm humanoid robot using marker-based recognition. In our method, we design buttoning task by dividing into multiple subtasks, and the robot performs them in order. When the robot performed each subtask, it conducts and adjusts motions based on the position of the button and its hole obtained by maker-based recognition. For the implementation of the robotic buttoning task, we used a Baxter, an experimental T-shirt, and a button-aid. As a result of experiments, although the problem of low success rate remains, the robot was able to realize a series of buttoning operations.