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

Fukui, Rui; Shodai, Masayuki; Mori, Taketoshi; Sato, Tomomasa

doi:10.1109/iros.2007.4399362

Cited by 10 publications

(3 citation statements)

References 6 publications

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“…(1) Intelligent container (i-container): Intelligent containers act as interface between humans and robots and accommodate commodities [25].…”

Section: Construction Of Home-use Logistical Support Robot Systemmentioning

confidence: 99%

Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)

Fukui¹,

Mori²,

Sato³

2011

J. Robot. Mechatron.

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This research describes the strategy and mechanism design methodology to realize a robot system that transfers and stores daily use objects in our living space. Unlike industrial applications, there are three specific problems in the home application: (1) variation of living environment, (2) diversity of daily use objects, (3) dispersion of human activity. First, we presented a concept of strategic compliance as a basic solution for these problems and extracted three fundamental functions (regulation, assist/enforce, and navigation) for the strategy. Second, we aimed to realize a robust robot motion by introducing adequate mechanisms which are suitable for the strategy. The mechanisms are; (1) passive mechanical compliance and (2) object constraint methodology with “caging.” As an actual prototype system, a home-use logistical support robot system implemented with those strategies and mechanisms is constructed. By experiments, validity of the presented methodology was confirmed. In addition to the domestic logistical application, we considered applying the proposed system to the elderly people support, and developed prototypes of supporting instruments; lavatory and refrigerator containers. The basic design of the instruments is also introduced.

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“…(1) Intelligent container (i-container): Intelligent containers act as interface between humans and robots and accommodate commodities [25].…”

Section: Construction Of Home-use Logistical Support Robot Systemmentioning

confidence: 99%

Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)

Fukui¹,

Mori²,

Sato³

2011

J. Robot. Mechatron.

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“…8 shows abstract of i-Container. Functions in detail are described in our previous paper [6], so this section explains geometrical structure of i-Container which is necessary for caging discussion. i-Container has two pin-connection holes for the container transfer robot at top corners.…”

Section: E State Transition Between Two Caging Conditionsmentioning

confidence: 99%

Application of caging manipulation and compliant mechanism for a container case hand-over task

Fukui

Mori

Sato

2010

2010 IEEE International Conference on Robotics and Automation

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This research aims to realize a container case handover task between robots. Although sophisticated cooperative control is essential to avoid destructive internal force in general cooperative transfer task, we propose a geometrical caging strategy which can simplify a hand-over task. To solve a problem of capture region mismatch during caging state transition, the proposed strategy does not utilize additional actuators and sensors but a compliant mechanism whose displacement range can be changed automatically by its configuration. By experiments, it was confirmed that the caging strategy can make the hand-over task drastically easy and robust, and a winch type quasi-compliant mechanism is effective to the problem of capture region mismatch.

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“…As commodities, we suppose books, magazines, CDs, preservative foods, grocery stock, and so on. 1) intelligent Container(i-Container), which is a sophisticated storage box and plays a role of mediator between human and robots in the presented system [2]. 2) Ceiling mobile robot, which carries i-Containers [3].…”

Section: Introductionmentioning

confidence: 99%

iDock: A multifunctional intermediate instrument to improve efficiency of domestic delivery and storage system

Fukui

Shodai

Mori

et al. 2009

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper describes development of "iDock", which is used for a container temporal stacker. iDock serves as if it is a mail-box in the post-service or a service station of the doorto-door delivery system to improve efficiency of domestic delivery and storage robot system. The instrument realizes stack of containers, recognition of contents in containers, and navigation of robots. To acquire information of contents in containers, RFID tags are attached to contents and scanned by movable RFID antenna of iDock. By experiments, it is confirmed that the movable RFID antenna is applicable to robust reading, and guide plates for human and robot can actualize smooth handing over task of containers between a user and a robot.

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

Cited by 10 publications

References 6 publications

Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)

Home-Use Object Transfer/Storage Robot System with Compliant Strategy and Mechanism (Commodities Management and its Extended Application of Daily Life Support for the Elderly)

Application of caging manipulation and compliant mechanism for a container case hand-over task

iDock: A multifunctional intermediate instrument to improve efficiency of domestic delivery and storage system

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