モバイルマニピュレーターとトレーを用いた弁当運搬システム

抄録

The number of elderly people living alone is increasing. Based on this, lunchbox delivery services are becoming more and more popular. The lunchboxes are sometimes put away in the refrigerator because of the time it takes to eat it. It is dangerous for them to walk with both hands to pick up lunchboxes. In this paper, the authors propose a robotic system for transporting a lunch box using a tray. By using a tray, a mobile robot can carry a variety of lunchboxes without advanced robot control methods. Point cloud data was used to recognize the tray. In addition, the color, width, and corner shape features obtained in advance were used. In the experiments, it is confirmed that Toyota’s Human Support Robot (HSR) was able to recognize and transport two kinds of trays in the refrigerator. As a result, the authors confirmed that the tray recognition method should be improved.