Development of autonomous grasping and navigating robot

ABSTRACT The ability to find and grasp target items in an unknown envi ronment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a graspi ng function. We tested this robot in an unknown environment. It achieved a series of operations: m oving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its ha nd, and returning to the starti ng location. The results of this experiment show the applicability of reducing the workforce with robots. Keywords: robot, grasping, SLAM, object detection, path planning, manipulation