Interactive robot supporting system for object acquisition

摘要

In this research, we develop an interactive robot supporting system, which uses interactive GUI for supporting robot operation to acquire target object such as book picking from bookshelf. Interactive functions of servie robotic system are indispensability because robot has not enough capability in recognition and judgement. This robotic system is deveroped for book picking using interactive GUI. When target book is selected by user interactively through GUI, a robot arm takes the book automously. The user can support the robot's working by using interactive GUI in: recognizing, approaching and grasping. This paper presents the proposal architecture and experiments has been carried out to verify the effectiveness of developed interactive system.