2P1-N01 環境埋め込み型測域センサを用いた空間認識と移動マニピュレータの動作の自動生成(インテリジェント・ロボティックルーム)

概要

論文の詳細を見る
In general, it is necessary to acquire environmental information when the robot performs intelligent motion. It is often to acquire environmental information with the sensors mounted on robot. So, the view is limited. Moreover, the robot has low computational power and the small number of sensors. Therefore, it is preferable to acquire information of entire environment by the sensors embedded in environment. Then, We aim at development of the sensor system that generates task according to the change occurred in environment, and achievement of intelligent motion of the robot by cooperation with the sensor system. The sensor system is composed of PC and "SOKUIKI" sensor. This paper describes the summary of the sensor system and motion planning for mobile manipulator that uses human's movement tracks and RRT-Connect.
一般社団法人日本機械学会の論文
2007-05-11