Vision Teaching Method of Handling Positions on Tools for Humanoid Robots

摘要

Most of the time, when human beings handle tools, we use our hands. It's the same with humanoid robots, and it is necessary for them to grab the proper position of the tool when trying to handle it. It is possible for some tools to estimate handling positions from the shape, but it is difficult for most of the tools surrounding our daily life. Therefore a method to teach handling positions on tools for humanoid robots will be necessary. This paper first argues about the methods of teaching handlig positions on tools, and then shows the detail of the vision teaching method.