2A1-D26 視覚による紐状物体認識に基づくヒューマノイドの生活支援行動

概要

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We have developed the visual function for the humanoid to operate a string-like object. In this paper, we show the recognition and action generating method about support of daily work using stringlike objects, and report about some experiments. At First, we apply parallel edge line detection to a robot eye image (in this paper, left eye image) to recognized string-like objects in robots view, and decide the operation target according to shape and the distance. Next we reconstruct three dimension shape of the target by calculating distance of points on target using binocular parallax. And we decide target coordinate of robot hand according to the situation, generate motion by solving inverse kinematics. Now, We report three experiments, picking up a string on a table, receiving a bag human passes, and pulling off the cable of a laptop computer.
一般社団法人日本機械学会の論文