Design and Control of Librarian Robot System in Information Structured Environments
Bong Keun Kim*, Kenichi Ohara**, Kosei Kitagaki*, and Kohtaro Ohba*
*Intelligent Systems Research Institute
National Institute of Advanced Industrial Science and Technology (AIST)
Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
**Department of System Innovation, Osaka University
1-3, Machikaneyama, Toyonaka, Osaka 560-8531, Japan
An information structured environment enables robots to complete specific tasks based on the information and knowledge provided by the environment. In our study, an information structured environment called u-RT space enabled a librarian robot to arrange books on bookshelves using ambient intelligence. The librarian robot consists of a manipulator, which can recognize and manipulate books, and a mobile platform, which can localize itself and navigate using ambient RFID tags embedded in a floor. The proposed u-RT space connects physical and virtual space using physical hyperlinks. The performance of the proposed librarian robot in u-RT space is evaluated by considering a particular scenario.
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