A Kitchen Assistant Manipulation System of a Variety of Dishes based on Shape Estimation with Tracing Dish Surfaces by Sensing Proximity and Touch Information

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  • Mizuuchi Ikuo
    The University of Tokyo (Currently at Tokyo University of Agriculture and Technology, Graduate School of Engineering)
  • Fujimoto Junya
    The University of Tokyo, Graduate School of Information Science and Technology
  • Sodeyama Yoshinao
    The University of Tokyo, Graduate School of Information Science and Technology
  • Yamamoto Kunihiko
    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
  • 近接覚・触覚によるなぞり形状推定に基づく多種食器操作キッチンアシストシステムの実現
  • キンセツカク ・ ショッカク ニ ヨル ナゾ リ ケイジョウ スイテイ ニ モトズク タシュ ショッキ ソウサ キッチンアシスト システム ノ ジツゲン

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Abstract

We have developed a kitchen in which a robot arm with a hand is incorporated. The robot was made for assisting with our work in kitchen. Manipulation of a variety of dishes is the main problem for the purpose. For realizing the manipulation, we developed a one-DOF hand equipped with multiple sensors. In this paper, we present the robot system estimating aproximate position and shape of dishes using these sensors based on sensor-based tracing. We also present a method of manipulating dishes grasplessly to deal with difficult setting of dishes. In the following experiment, we demonstrate the robot clears away basic three types of dishes by picking them off a tray and placing them into a dish washer.

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