1A2-A25 3本指ロボットハンドによる食器洗浄機への食器片付け動作の実現

概要

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In this paper, we propose an operation method for clearing the tableware on the plate by using a general-purpose robot hand with three soft fingers as one of the housework help robots. The tableware is required to be put on the plate. The shapes of the tableware are only assumed to be a circle. All dishes are assumed to have disappeared. And the goal is to move them to their storage. Our robot can recognize the positions of the tableware by using a camera fixed on the robot hand. After recognizing their positions, the robot decides the holding order that the robot can grasp them and selects their positions. The robot can adjust the grasping force by using force sensors on the fingers. As a result, the robot can clear the tableware on the plate smoothly.
一般社団法人日本機械学会の論文