2P1-E03 ロボットアームを搭載した室内掃除ロボット 2P1-E03 Floor Cleaning Robot with Trash Picking Arm

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Recently, cleaning robots are becoming widely used. However, even if commercially-available cleaning robots can collect dust and small debris on the floor, they can not pick up trash such as PET bottles, cans, etc. We developed a cleaning robot intended for picking trash while dust collecting. This paper describes the architecture of the cleaning robot consisting of hardware such as an RGB-D sensor, a robot arm and a commercially-available cleaning robot, and also software for trash picking such as searching trash from RGB-D image, picking the trash via the robot arm and controlling the cleaning robot. We used commercially-available hardware and open source software such as Robot Operating System (ROS), Point Cloud Libraly (PCL) and so on.

収録刊行物

  • ロボティクス・メカトロニクス講演会講演概要集

    ロボティクス・メカトロニクス講演会講演概要集 2015, "2P1-E03(1)"-"2P1-E03(3)", 2015-05-17

    一般社団法人日本機械学会

各種コード

  • NII論文ID(NAID)
    110010055728
  • NII書誌ID(NCID)
    AA11902933
  • 本文言語コード
    JPN
  • データ提供元
    NII-ELS 
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