食器把持ロボットハンドを用いた鉄板皿の把持計画

抄録

In order to automate the washing process of tableware in a restaurant, a robot needs to know the state of the manipulated object and determine how to approach and grasp it. In this paper, we describe a ROS-based grasp motion planning system to accomplish a task of grasping, transporting, and placing tableware. Our developed robotic hand can grasp various tablewares including heavy iron plates.We execute grasping and transporting stacked iron plates, and placing them side by side in a plate rack, and confirmed the effectiveness of the robot through preliminary tests, in a known environment.