Portable effector docking mechanism for a service mobile robot and its positioning

Eijiro Takeuchi, Takashi Tsubouchi

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

2 Citations (Scopus)

Abstract

The present authors take such an approach to build a service mobile robot that all the robot functions are categorized into common functions and specific functions. The common functions will be assigned to a mobile robot and the specific functions will be assigned to a specific mechanism. A "portable effector" is designed for a mechanism to accomplish the specific task. The portable effector will be placed on the floor near the task space in the environment. A navigation and docking functions with the effector will be provided as common functions for the mobile robot. The robot changes the portable effector automatically according to the assigned task. In this paper, the authors describe techniques of automatic docking with portable effector for the mobile robot. They include position alignment technique proper to docking by PWS type mobile robot using simple sensor and mark, and firm holding mechanism between the robot and the effector. The docking mechanism is designed so as to allow alignment error at the time of docking. The authors illustrate portable effector changing operation using two kinds of portable effectors in the real environment.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3380-3386
Number of pages7
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Takeuchi, E., & Tsubouchi, T. (2006). Portable effector docking mechanism for a service mobile robot and its positioning. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3380-3386). [1642218] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642218