著者

堂前 幸康 川西 亮輔 白土 浩司 原口 林太郎 藤田 正弘 山内 悠嗣 山下 隆義 藤吉 弘亘 秋月 秀一 橋本 学

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.38, no.1, pp.95-103, 2020 (Released:2020-01-16)

参考文献数

16

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We proposed a picking robot system which is apllicable to various mixed items in shelves. The robot has a two-finger gripper which can change the open width of the finger. To determine the position, the pose and the open width when the gripper pick items, we proposed efficient determination algorithm which is based on a RGBD sensor data. In our experiments, 25 items of Amazon Picking Challenge 2015 can be picked well by our proposed system. In this paper, we describe the system, the algorithms and the experimental results.