Realization of Trash Separation of Bottles and Cans for Humanoids using Eyes, Hands and Ears

DOI Web Site 8 Citations 12 References Open Access
  • Inamura Tetsunari
    National Institute of Informatics The Graduate University for Advanced Studies (SOKENDAI) The University of Tokyo, Graduate School of Information Science and Technology
  • Kojo Naoki
    The University of Tokyo, Graduate School of Information Science and Technology
  • Hatao Naotaka
    The University of Tokyo, Graduate School of Information Science and Technology
  • Tokutsu Satoru
    The University of Tokyo, Graduate School of Information Science and Technology
  • Fujimoto Jun'ya
    The University of Tokyo, Graduate School of Information Science and Technology
  • Sonoda Tomoyuki
    The University of Tokyo, Graduate School of Information Science and Technology
  • Okada Kei
    The University of Tokyo, Graduate School of Information Science and Technology
  • Inaba Masayuki
    The University of Tokyo, Graduate School of Information Science and Technology

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Other Title
  • 飲料缶・ボトル類を目と手と耳で分別廃棄するヒューマノイド行動の実現
  • インリョウカン ボトルルイ オ メ ト テ ト ミミ デ ブンベツ ハイキスル ヒューマノイド コウドウ ノ ジツゲン

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For humanoid robots which act in daily life environments, integration of vision, force and audio sensors are important to achieve various tasks. In this paper, we focus on trash separation behavior for bottles and cans, which is one of hard problems because sensor patterns would be widely changed. In such situation, not only using passive sensors but also acquisition of advanced sensor information by active behavior such as grasping bottle, watching in close distance and listening to sound with hitting. In this paper, we propose integration method of these sensors for realization of trash separation task.

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