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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルRobotics
ホスト出版物のサブタイトルResults of the 5th International Conference
編集者Salah Sukkariah, Peter Corke
出版社Springer-Verlag
ページ389-400
ページ数12
ISBN(印刷版)3540334521, 9783540334521, 9783540334521
DOI
出版ステータスPublished - 2006 1月 1
イベント5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia
継続期間: 2005 7月 292005 7月 31

出版物シリーズ

名前Springer Tracts in Advanced Robotics
25
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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