Picking Instruction with Task Model for a Robot in a Daily life Environment

This paper presents a simple task instruction scheme for a supporting robot in a daily life environment. It is difficult for a robot to perform an automatic task in the daily life environment because its sensors are not perfect in such an environment and the world model of the robot cannot cover the specific details of this environment. On the other hand, a user of the robot may control the robot by full teleoperation scheme. But the teleoperation puts the burden on the user. Instead, we propose a new instruction scheme for the supporting robot in which the user selects a task model which the robot can perform and indicates the key points on the monitoring image of the robot task environment according to the robot's request. The monitoring image is captured by a stereo camera and the range image is stored simultaneously. Therefore the system can detect the important position parameters of the target object with the indication provided by the user and the robot can complete the task with the information which the user simply gives the system.