Recognition and manipulation integration for a daily assistive robot working on kitchen environments

摘要

This paper describes a system integration of a daily assistive robot. Several tasks on cooking are focused on, recognition and manipulation functions are developed and integrated. It is often the case that kitchen tools and foods have less distinctive texture on its surface, and kitchen environments which are made of reflective materials are susceptible to the effect of illumination. From these fact, recognition functions are implemented with a basic policy which composes simple image features. On the other hand, tasks on kitchen often include relatively complicate dual arm manipulation. In such case it is effective in generating a robot pose by considering several manipulators at the same time. Experiments doing several cooking tasks with handling daily tools showed the effectiveness of our system.