Picking up an Unknown Object through Autonomous Modeling and Grasp Planning by a Mobile Manipulator

This paper describes a novel framework for object picking and carrying task by a mobile manipulator. Conventionally, researches on mobile manipulator cope well with object manipulation task with utilizing predefined knowledge or specific tools. So these researches have an essential problem that a new target object cannot be added without relatively many preparation. On the other hand, in our framework of a robot system, because the robot can create the 3D shape model of the object and can plan a grasp pose for the object autonomously under the condition that only the position of the object is given to the robot. Experimental results show the effectiveness of our robot system to be implemented our proposed method.