2P1-K02 RECSコンセプトに基づくホームロボットの開発 : 保護色マークと赤外線を用いた食器片付け作業(空間知)

概要

論文の詳細を見る
RECS (Robot Environment Compromise System) concept proposes changing environment for easily achieving robot tasks, where the changes should be minimum and unobtrusive to the coexisting human. According to this concept, adding artificial marks to objects makes it easier to recognize the environment in home robot tasks. It is preferable that marks are invisible for human. We propose the mark which is made of retro-reflective sheet covered by colored infrared pass filter. This mark is set on the same colored tableware, making the mark invisible. When irradiated by infrared light from the robot, this mark is retro-reflectively conspicuous, which is captured by a CCD camera having sensitivity in infrared frequency range. Note that infrared light is also invisible for human. We named it "protective coloration mark". This mark is added to edge of the tableware for the task of cleaning the table. If the radius of tableware is known in advance, the location and pose of tableware based on camera coordinate system can be calculated. During this robot task, coexisting human does not aware of it at all.
一般社団法人日本機械学会の論文
2011-05-26