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

doi:10.1007/978-3-540-33453-8_33

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

New Industry Creation Hatchery Center (NICHe)

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Robotics
Subtitle of host publication	Results of the 5th International Conference
Editors	Salah Sukkariah, Peter Corke
Publisher	Springer-Verlag
Pages	389-400
Number of pages	12
ISBN (Print)	3540334521, 9783540334521, 9783540334521
DOIs	https://doi.org/10.1007/978-3-540-33453-8_33
Publication status	Published - 2006 Jan 1
Event	5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia Duration: 2005 Jul 29 → 2005 Jul 31

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	25
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Other

Other	5th International Conference on Field and Service Robotics, FSR 2005
Country	Australia
City	Port Douglas
Period	05/7/29 → 05/7/31

Keywords

Battery-charging
Navigation
Putting a plug into an outlet

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-540-33453-8_33

Fingerprint Dive into the research topics of 'Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator'. Together they form a unique fingerprint.

Cite this

Yamada, T., Nagatani, K., & Tanaka, Y. (2006). Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator. In S. Sukkariah, & P. Corke (Eds.), Robotics: Results of the 5th International Conference (pp. 389-400). (Springer Tracts in Advanced Robotics; Vol. 25). Springer-Verlag. https://doi.org/10.1007/978-3-540-33453-8_33

Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator. / Yamada, Tomofumi; Nagatani, Keiji; Tanaka, Yutaka.

Robotics: Results of the 5th International Conference. ed. / Salah Sukkariah; Peter Corke. Springer-Verlag, 2006. p. 389-400 (Springer Tracts in Advanced Robotics; Vol. 25).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamada, T, Nagatani, K & Tanaka, Y 2006, Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator. in S Sukkariah & P Corke (eds), Robotics: Results of the 5th International Conference. Springer Tracts in Advanced Robotics, vol. 25, Springer-Verlag, pp. 389-400, 5th International Conference on Field and Service Robotics, FSR 2005, Port Douglas, Australia, 05/7/29. https://doi.org/10.1007/978-3-540-33453-8_33

Yamada T, Nagatani K, Tanaka Y. Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator. In Sukkariah S, Corke P, editors, Robotics: Results of the 5th International Conference. Springer-Verlag. 2006. p. 389-400. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-540-33453-8_33

@inproceedings{c4eeeb9aaf9647cf8540ab981b890c08,

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

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.",

keywords = "Battery-charging, Navigation, Putting a plug into an outlet",

author = "Tomofumi Yamada and Keiji Nagatani and Yutaka Tanaka",

year = "2006",

month = jan,

day = "1",

doi = "10.1007/978-3-540-33453-8_33",

language = "English",

isbn = "3540334521",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer-Verlag",

pages = "389--400",

editor = "Salah Sukkariah and Peter Corke",

booktitle = "Robotics",

note = "5th International Conference on Field and Service Robotics, FSR 2005 ; Conference date: 29-07-2005 Through 31-07-2005",

}

TY - GEN

T1 - Long-term activities for autonomous mobile robot - Autonomous insertion of a plug into real electric outlet by a mobile manipulator

AU - Yamada, Tomofumi

AU - Nagatani, Keiji

AU - Tanaka, Yutaka

PY - 2006/1/1

Y1 - 2006/1/1

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 implementations, 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 implementations, 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=85037535012&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85037535012&partnerID=8YFLogxK

U2 - 10.1007/978-3-540-33453-8_33

DO - 10.1007/978-3-540-33453-8_33

M3 - Conference contribution

AN - SCOPUS:85037535012

SN - 3540334521

SN - 9783540334521

T3 - Springer Tracts in Advanced Robotics

SP - 389

EP - 400

BT - Robotics

A2 - Sukkariah, Salah

A2 - Corke, Peter

PB - Springer-Verlag

T2 - 5th International Conference on Field and Service Robotics, FSR 2005

Y2 - 29 July 2005 through 31 July 2005

ER -

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

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this