3D object recognition and grasping for human support robotic system

摘要

In order to develop human friendly robots, we develop a robotic system with a vision system, robot arm and voice recognition system, capable of grasping an object for which a human asks by voice. In this paper we present the 3D object recognition method by silhouette images in the first place. We propose the method to construct 3D object models by silhouette images and use them for making templates in order to undertake the template matching for 3D object recognition by silhouette images. We find that very high correct recognition rate is achieved by this method. We then employ a 4-DOF robot arm with a gripper for grasping the object. We present the method to approach and grasp the object by cooperating with the movement of arm and image obtained from the camera mounted on the tip of the arm. The experiment shows that recognition of the object, approach and grasping it are well undertaken.