食材の把持量の操作を行うグリッパのための近接距離センサアレイの開発

抄録

The market size of prepared foods exceeds 10 trillion yen and is increasing year by year, and more than millions of lunch boxes are manufactured and sold daily. food manipulation is difficult to automate because the foodstuffs are often soft and the shapes of the foodstuffs vary widely, and the current situation is that this arrangement work is mostly done manually. In the work of serving lunch boxes and the like, it is indispensable to sort foods in a quantitative manner, and in the case of serving with a robot, it is considered that an efficient motion plan and gripper performance are required for serving in a fixed quantity. Therefore, in this research, we propose tactile sensor for grabbing foods.