2P1-E03 Floor Cleaning Robot with Trash Picking Arm

• HIRATA Takashi

  Nara Institute of Science and Technology (NAIST)

• YAMAZAKI Wataru

  Nara Institute of Science and Technology (NAIST)

• CAYAO Christian Deus

  Nara Institute of Science and Technology (NAIST)

• YOSHIKAWA Masahiro

  Nara Institute of Science and Technology (NAIST)

• IKEDA Atsutoshi

  Nara Institute of Science and Technology (NAIST)

• TAKAMATSU Jun

  Nara Institute of Science and Technology (NAIST)

• OGASAWARA Tsukasa

  Nara Institute of Science and Technology (NAIST)

Bibliographic Information

Other Title

• 2P1-E03 ロボットアームを搭載した室内掃除ロボット

Abstract

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.

Journal

• The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (0), _2P1-E03_1-_2P1-E03_3, 2015

  The Japan Society of Mechanical Engineers

Keywords

• Life management and robotics
• Cleaning robot
• Trash picking

Details

• CRID: 1390001205940794112
• NII Article ID: 110010055728
• DOI: 10.1299/jsmermd.2015._2p1-e03_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2P1-E03_1/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed