Semi-direct Teaching Method for Grasping Objects in Service Mobile Robot Systems - Teaching Data Generation

A semi-direct teaching method for specifying information for grasping objects by mobile robots in home or office environments through the generation of a teaching data is proposed in this paper. Information specified during the teaching process includes: object's shape, grasping force, grasping position, and orientation. To achieve this data indication, we propose the use of a teaching tool which has the same mechanism as the hardware placed on the robot (gripper). This enables our system to carry out the teaching process without using the robot. In the experiments, teaching data was generated for three objects, and our approach method was evaluated to determine the accuracy of the measurements obtained.