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

Tomofumi Yamada, Keiji Nagatani, Yutaka Tanaka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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 implementations, and we discuss advantages and limitations of such motions.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationResults of the 5th International Conference
EditorsSalah Sukkariah, Peter Corke
PublisherSpringer-Verlag
Pages389-400
Number of pages12
ISBN (Print)3540334521, 9783540334521, 9783540334521
DOIs
Publication statusPublished - 2006 Jan 1
Event5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia
Duration: 2005 Jul 292005 Jul 31

Publication series

NameSpringer Tracts in Advanced Robotics
Volume25
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other5th International Conference on Field and Service Robotics, FSR 2005
CountryAustralia
CityPort Douglas
Period05/7/2905/7/31

Keywords

  • Battery-charging
  • Navigation
  • Putting a plug into an outlet

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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