An interactive intelligent robot system for supporting book acquisition

摘要

In this research, we develop an interactive robot system for object manipulation, which uses interactive GUI for supporting robot operation to acquire target object such as book picking from bookshelf. Interactive functions of service robotic system are indispensability because robot has not enough capability in recognition and judgment even using many kinds of sensors. The developed system supports the robot manipulation in all processing of robot performing the task such as inserting, grasping and drawing. We developed algorithm to recognize the target book selected by user and developed manipulation modules according to the state of target books. In order to enable the user to access the robot easily, we developed interactive GUI. This paper describes the architecture of the proposed system and gives some experimental results.