Placing Beverages with a Service Robot using Line Detection and Plane Recognition

Abstract

In this study, we propose a system that enables beverage placement on a table using plane recognition and robot control. RGB-D sensors are used to extract 3D depth images around the robot, estimate the relative movement distance from the table, and simultaneously predict the height required when delivering objects through plane recognition. Considering the workspace of the robot, the moving distance and placement position of the robot were calculated, and the drive command of the robot was generated. The final task was performed using mobile manipulation based on the given object placement coordinates. To verify this, the sensor recognition and positioning accuracy of the robot and the success rate of the service performance through the action part were evaluated on a table with an open front and a step, without considering the workspace of the robot. The achievement of a 95% success rate in the given environment confirmed the feasibility of the proposed process for performing beverage delivery services for robots.