Title :
Meal support system with spoon using laser range finder and manipulator
Author :
Ohshima, Y. ; Kobayashi, Yoshiyuki ; Kaneko, Tetsuya ; Yamashita, Atsushi ; Asama, Hajime
Author_Institution :
Dept. of Mech. Eng., Shizuoka Univ., Hamamatsu, Japan
Abstract :
This paper presents an autonomous meal support robot system that can handle non-rigid solid food. The robot system is equipped with a laser range finder (LRF) and a manipulator holding a spoon. The LRF measures the 3D coordinates of surface points belonging to food on a plate. Then the robot determines the position of food surface to scoop, and the manipulator moves according to the calculated trajectory. The system has an advantage that preparation of food cutting in bite-size is not required. The proposed scooping control was implemented and verified in experiment with two kinds of non-rigid solid foods. It was shown that the robot can scoop foods for the most part with high success rate.
Keywords :
dexterous manipulators; grippers; intelligent robots; laser ranging; service robots; trajectory control; 3D surface points coordinates; LRF; autonomous meal support robot system; bite-size; calculated trajectory; food cutting preparation; food surface; laser range finder; manipulator spoon holding; nonrigid solid food; scooping control; Manipulators; Robot kinematics; Shape; Solids; Three-dimensional displays; Vectors;
Conference_Titel :
Robot Vision (WORV), 2013 IEEE Workshop on
Conference_Location :
Clearwater Beach, FL
Print_ISBN :
978-1-4673-5646-6
Electronic_ISBN :
978-1-4673-5647-3
DOI :
10.1109/WORV.2013.6521918
