Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulatore

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.