Using simplified geometric models in skill-based manipulation for objects used in daily life

摘要

Recently many types of robots have been playing an active part in various fields. The operation of these robots' manipulators is an important subject of research. The tasks of manipulation can be regarded as sequences of several motion primitives called "skills". Skills also have ability to compensate for errors both in modeling and in execution. Data may occur in the elements of the shapes, positions and orientations of objects that can be dispensed with to make geometric models simpler. In order to achieve tasks with high reliability, this paper proposes simplified geometric models based on skill techniques not only for industrial products but also for objects used in the daily life of humans. As examples of simplified geometric models of objects used in daily life, simplified models in a transfer task of plastic bottles and in a transfer task of a cup are explained.