Abstract
The authors aim at modeling of unknown objects in human life environment using robot technologies. The proposed method can be used by service robots to find an unknown object and to collect the information. In this paper, we explain about a method for detecting unknown objects using an environmental sensor mounted on a ceiling and a method for modeling an unknown object using a robot manipulator. Areas where unknown objects exist are detected from 3-D shapes and camera images measured by the environmental sensor. Advantage of the detection method is to find these areas without any prior knowledge. In addition, an unknown object on a desk is modeled using vision sensors, a manipulator, and a pressure sensor mounted on the robot. Pushing motion enables one to create a object model that cannot be grasped by a robot hand. During pushing motion, the object shape and the motion are measured. Combining the estimated motion and the measured 3-D shape, the model is built.
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