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Proceedings Paper

Development of autonomous grasping and navigating robot
Author(s): Hiroyuki Kudoh; Keisuke Fujimoto; Yasuichi Nakayama
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Paper Abstract

The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

Paper Details

Date Published: 8 February 2015
PDF: 7 pages
Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 94060H (8 February 2015); doi: 10.1117/12.2078511
Show Author Affiliations
Hiroyuki Kudoh, The Univ. of Electro-Communications (Japan)
Keisuke Fujimoto, Hitachi, Ltd. (Japan)
Yasuichi Nakayama, The Univ. of Electro-Communications (Japan)

Published in SPIE Proceedings Vol. 9406:
Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques
Juha Röning; David Casasent, Editor(s)

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