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
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.
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