Furniture Model Creation Based on Direct Teaching to a Mobile Robot

In this paper, a modeling method to handle furniture is proposed. In real environment, there is a lot of furniture such as drawer, cabinet and so on. If mobile robots can handle these furniture autonomously, it is expected that multiple daily tasks, for example, storing a small object in a drawer, can be performed by the robots. However, it is a perplexing process to give several pieces of knowledge about the furniture to the robots manually. So we propose direct teaching based approach which can easily give not only how to handle the furniture but also an appearance and 3D shape of it simultaneously. The main topic is about the appearance and shape information acquisition using external sensors.