Gripping position detection of a box-shaped object using a RGB-D sensor by tracked mobile robot with two manipulators

We have developed a tracked mobile robot with two robotic arms which can work by itself in a disaster area. It can perform handling tasks such as gripping and carrying of a target object by the two arms as manipulators. To reduce burden of remote control on an operator for such tasks, this paper presents a method for detecting gripping positions of a box-shape object for the two manipulation arms using a RGB-D sensor. The method is based on the detection of vertices of the object located in front of the robot. Several experimental results verified the effectiveness of this method.