TY - CHAP
T1 - Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulatore
AU - Yamada, Tomofumi
AU - Nagatani, Keiji
AU - Tanaka, Yutaka
PY - 2006/9/27
Y1 - 2006/9/27
N2 - Mobile robots used in the human-robot coexisting environment are required to perform continuous works without human maintenance. On the other hand, they need a rechargeable batteries that require charge, generally. Therefore, an autonomous battery-charging for mobile robots has a big advantage for performing continuous works. However, installation of exclusive use of battery-charging-stations requires much cost. To improve this situation, we aim to realize an autonomous battery-charging motion for a mobile manipulator using conventional electrical outlets. In this motion, the robot is navigated to a front of an outlet, and a plug attached at the tip of the manipulator is controlled to insert into the outlet. To realize the motion, we implemented "distance transform method" for navigation, and a motion of plug insertion using force feedback control. In this paper, we explain the above implementat ions, and we discuss advantages and limitations of such motions.
AB - Mobile robots used in the human-robot coexisting environment are required to perform continuous works without human maintenance. On the other hand, they need a rechargeable batteries that require charge, generally. Therefore, an autonomous battery-charging for mobile robots has a big advantage for performing continuous works. However, installation of exclusive use of battery-charging-stations requires much cost. To improve this situation, we aim to realize an autonomous battery-charging motion for a mobile manipulator using conventional electrical outlets. In this motion, the robot is navigated to a front of an outlet, and a plug attached at the tip of the manipulator is controlled to insert into the outlet. To realize the motion, we implemented "distance transform method" for navigation, and a motion of plug insertion using force feedback control. In this paper, we explain the above implementat ions, and we discuss advantages and limitations of such motions.
KW - Battery-charging
KW - Navigation
KW - Putting a plug into an outlet
UR - http://www.scopus.com/inward/record.url?scp=33748884035&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33748884035&partnerID=8YFLogxK
U2 - 10.1007/11736592_33
DO - 10.1007/11736592_33
M3 - Chapter
AN - SCOPUS:33748884035
SN - 3540334521
SN - 9783540334521
T3 - Springer Tracts in Advanced Robotics
SP - 389
EP - 400
BT - Robotics
A2 - Corke, Peter
A2 - Sukkariah, null
ER -