A mobile dual-arm manipulation robot system for stocking and disposing of items in a convenience store by using universal vacuum grippers for grasping items
A mobile dual-arm manipulation robot system for stocking and disposing of items in a convenience store by using universal vacuum grippers for grasping items
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DOI：
10.1080/01691864.2019.1705909
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发表时间：
2019-12-27
影响因子：
2
通讯作者：
Shimizu, Toshihiko
中科院分区：
文献类型：
--
作者：
Sakai, Ryo;Katsumata, Shinichi;Shimizu, Toshihiko
研制了一种带有万能真空抓手(UVG)的移动双臂机器人，用于执行存储和处理任务。机器人通过使用UVG抓取任务中的物品，UVG的表面适应物品的各种形状。还开发了一种选择算法，确定机器人应该使用一个机械手还是两个机械手来排列物品。可达抓取姿势被定义为机器人的UVG如果抓住物品就可以轻松地以目标姿态放置物品的姿势。通过选择算法，当两个机械手一个处于当前抓取姿势，另一个处于可达抓取姿势时，如果两个机械手没有碰撞，则机器人采用可达抓取姿势重新抓取物品。该机器人系统荣获2018未来便利店挑战赛三等奖。在存储和处理任务的实验中，机器人系统存储任务的成功率为100%，处理任务的成功率为80%。我们相信，这项研究的结果将有助于研究人员开发一个机器人系统，不仅可以完成便利店的库存和处置任务，还可以完成其他任务(如客户互动)。
A mobile dual-arm robot with universal vacuum grippers (UVG) for performing stocking and disposing tasks was developed. The robot grasps items in the tasks by using UVGs whose surface adapts to the various shapes of the items. A selection algorithm that determines whether the robot should use one or both manipulators to arrange an item was also developed. A 'reachable-grasp pose' is defined as a pose in which the robot's UVG can easily place an item with a target attitude if it grasps the item. By using the selection algorithm, the robot re-grasps the item by adopting the reachable-grasp pose if the two manipulators do not collide when one is in the current grasp pose and the other is in the reachable-grasp pose. The robot system won the third prize of the Future Convenience Store Challenge 2018. In experiments on stocking and disposing tasks, the robot system achieved success rates of 100% for the stocking task and 80% for the disposing task. We believe that the results of this study will help researchers to develop a robot system for not only the stocking and disposing tasks but also other tasks in convenience stores (like customer interaction).