An autonomous robot for indoor light logistics

Cosma, C.; Confente, M.; Governo, M.; Fiorini, Roberto

doi:10.1109/iros.2004.1389866

Cited by 18 publications

(12 citation statements)

References 6 publications

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“…Previous work on warehouse automation mainly focuses on autonomous transport, e.g., delivering the packages by using Automated Guided Vehicles (AGV) [6] [7]. Beyond that, in [8], it describes an autonomous robot for indoor 1 Now it is renamed as Amazon Robotics. light logistics with limited manipulating ability.…”

Section: Related Workmentioning

confidence: 99%

DoraPicker: An autonomous picking system for general objects

Zhang¹,

Long

Zhou³

et al. 2016

2016 IEEE International Conference on Automation Science and Engineering (CASE)

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Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both picking and placing general objects in warehouse scenarios. Given a target object, the robot autonomously detects it from a shelf or a table and estimates its full 6D pose. With this pose information, the robot picks the object using its gripper, and then places it into a container or at a specified location. We describe our pick-and-place system in detail while highlighting our design principles for the warehouse settings, including the perception method that leverages knowledge about its workspace, three grippers designed to handle a large variety of different objects in terms of shape, weight and material, and grasp planning in cluttered scenarios. We also present extensive experiments to evaluate the performance of our picking system and demonstrate that the robot is competent to accomplish various tasks in warehouse settings, such as picking a target item from a tight space, grasping different objects from the shelf, and performing pick-and-place tasks on the table.

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Section: Related Workmentioning

confidence: 99%

DoraPicker: An autonomous picking system for general objects

Zhang¹,

Long

Zhou³

et al. 2016

2016 IEEE International Conference on Automation Science and Engineering (CASE)

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“…is the rotation vector of the wheels around its axle, R0 is the rotation matrix, 2 J is a diagonal matrix of the radii of the wheels and each row of matrices 1 J and 1 C represent the pure rolling and nonlateral slippage, respectively. For each wheel, the i th rows of these matrices are: Thus, using the parameters of Table 1, the matrices introduced in Eq.…”

Section: Dynamic Modelling Of the Tricycle Mobile Manipulatormentioning

confidence: 99%

Smooth Jerk-Bounded Optimal Path Planning of Tricycle Wheeled Mobile Manipulators in the Presence of Environmental Obstacles

Korayem

Nazemizadeh

Nohooji

2012

International Journal of Advanced Robotic Systems

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In this work, a computational algorithm is developed for the smooth-jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obstacles. This paper presents a general formulation based on the combination of the potential field method and optimal control theory in order to plan the smooth point-to-point path of the tricycle mobile manipulators. The nonholonomic constraints of the tricycle mobile base are taken into account in the dynamic formulation of the system and then the optimality conditions are derived considering jerk restrictions and obstacle avoidance. Furthermore, by means of the potential field method, a new formulation of a repulsive potential function is proposed for collision avoidance between any obstacle and each part of the mobile manipulator. In addition, to ensure the accurate placement of the end effector on the target point an attractive potential function is applied to the optimal control formulation. Next, a mixed analyticalnumerical algorithm is proposed to generate the point-topoint optimal path. Finally, the proposed method is verified by a number of simulations on a two-link tricycle manipulator.

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“…Prassler et al [2] and Cosma et al [3] constructed a mobile robot system for office or indoor logistics. In the paper, Prassler concluded that "No single method suffices for solving any of these (variety of the conditions and objectives) problems".…”

Section: Related Researchesmentioning

confidence: 99%

Development of an intelligent container prototype for a logistical support robot system in living space

Fukui

Shodai

Mori

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper reports development of an intelligent container, a unit of the logistical support robot system in living space. The container not only supports human to fix and arrange their commodities, but also supports robots to achieve their logistical tasks. In other words, the intelligent container is a mediator between human's request and robots' capabilities. The container has four major roles in our logistical support system. (1) Taking several commodities in and recognizing and acquiring contents' information.(2) Supporting human and robots to transfer the container. (3) Receiving users' command as a simple user-interface. (4) Communicating to a host computer and informs the contents of the container and users' command. To realize those roles, the container is equipped with a grasping navigation mechanism for robot handling, RFID reader for the recognition of contents, and LCD device to display supporting information to human and robot. Finally, a primary function is evaluated in experiment to confirm that an acceleration sensor enables the container to detect being transferred by human.In the future, the intelligent container will play a role of contact point for human and robots in our target system, that enables human-robot symbiotic life.

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An autonomous robot for indoor light logistics

Cited by 18 publications

References 6 publications

DoraPicker: An autonomous picking system for general objects

DoraPicker: An autonomous picking system for general objects

Smooth Jerk-Bounded Optimal Path Planning of Tricycle Wheeled Mobile Manipulators in the Presence of Environmental Obstacles

Development of an intelligent container prototype for a logistical support robot system in living space

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