Remote Shopping Robot System, -Development of a hand mechanism for grasping fresh foods in a supermarket
Remote Shopping Robot System, -Development of a hand mechanism for grasping fresh foods in a supermarket
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DOI：
10.1109/iros.2006.282457
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发表时间：
2006-10
期刊：
影响因子：
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通讯作者：
T. Tomizawa;A. Ohya;S. Yuta
中科院分区：
文献类型：
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作者：
T. Tomizawa;A. Ohya;S. Yuta
这项研究的目的是开发一种机器人系统，帮助人类远程完成日常任务，例如购物。该远程操作系统基于简单的人机交互合作，其中人与移动机器人进行远程通信。我们定义了从远程位置在超市购买新鲜食品的具体任务。为了进行购物操作，机器人必须能够抓取大量不同质地、形状和重量的物体，其中包括柔软且不规则形状的水果和蔬菜。用户选择要购买的产品后，接下来的过程是，机器人首先要找到物体，然后抓住它，然后将其放入购物篮。在这项工作中，我们根据前面解释的要求构建了一个系统，其中涉及自主导航、环境感知、物体操纵和远程操作。在本文中，我们介绍了开发的用于采摘新鲜食品的吸力手，并通过实验结果评估了其操作性能
The purpose of this research is to develop a robot system which helps humans to remotely accomplish a daily given task such as shopping. This teleoperated system is based on simple mutual human-robot cooperation where the person remotely communicates with the mobile robot. We define the specific task of buying FRESH foods in a supermarket from a remote location. In order to do shopping operations, the robot has to be able of grasping a large amount of objects with different textures, shapes and weights which include fruits and vegetables with soft and irregular forms. After the user chooses the product to buy, the process is the next, firstly the robot has to find the object, then grasp it and then place it into a shopping basket. In this work, we built a system according to the previously explained requirements which involves autonomous navigation, environment perception, object manipulation and teleoperation. In this paper, we present the developed suction hand for picking fresh foods and evaluate its operating performance through experimental results