協働型双腕ロボットを用いたペットボトル把持の試み

抄録

Depending on the object, grasping and manipulation by a robot may be susceptible to disturbances consisting of complex elements related to the object and may not be able to grasp the object in a stable manner. In addition, If the object to be gripped is long or flexible, it is difficult to finely adjust the grip using the existing single arm which is the basis of industrial robots, and there is a risk that the object may not be gripped or may be damaged. Under the long-term goal of making it possible to stably grasp objects, even for difficult objects, we try to find a new approach and grasping method using a dual-arm robot as one of these methods. In this study, we attempt to develop a system that can grasp an object with both arms using a cooperative dual-arm robot and a depth camera.