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)
Rui Fukui, Taketoshi Mori, and Tomomasa Sato
Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
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.
-  N. Y. Chong et al., “A distributed knowledge network for real world robot applications,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 187-192, 2004.
-  K. Yamazaki et al., “A grasp planning for picking up an unknown object for a mobile manipulator,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2143-2149, 2006.
-  Y. Kume et al., “Object handling by coordinated multiple mobile manipulators without force/torque sensors,” J. of Robotics and Mechatronics, Vol.20, No.3, pp. 394-402, 2008.
-  J. Kuehnle et al., “6D object localization and obstacle detection for collision-free manipulation with a mobile service robot,” Proc. of Int. Conf. on Advanced Robotics, pp. 1-6, 2009.
-  B. K. Kim et al., “Design and control of librarian robot system in information structured environments,” J. of Robotics and Mechatronics, Vol.21, No.4, pp. 507-514, 2009.
-  Z. C. Marton et al., “Reconstruction and verification of 3D object models for grasping,” Proc. of The 14th Int. Symposium on Robotics Research, 2009.
-  S. Chitta et al., “Tactile object class and internal state recognition for mobile manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2342-2348, 2010.
-  D. Whitney, “Historical perspective and state of the art in robot force control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 262-268, 1985.
-  M. Niitsuma et al., “Observation of human activities based on spatial memory in intelligent space,” J. of Robotics and Mechatronics, Vol.21, No.4, pp. 515-523, 2009.
-  Y. Nakauchi et al., “Human intention detection and activity support system for ubiquitous sensor room,” J. of Robotics and Mechatronics, Vol.16, No.5, pp. 545-551, 2004.
-  K. B. Shimoga, “Robot grasp synthesis algorithms: A survey,” Int. J. of Robotics Research, Vol.15, No.3, pp. 230-266, 1996.
-  A. Bicchi and V. Kumar, “Robotic grasping and contact: a review,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 348-353, 2000.
-  C. McShane, “Down the asphalt path: the automobile and the American city,” Columbia University Press, 1994.
-  D. E. Whitney, “Quasi-static assembly of compliantly supported rigid parts,” ASME J. of Dynamic Systems, Measurement and Control, Vol.104, pp. 65-77, 1982.
-  S. Yun, “Compliant manipulation for peg-in-hole: Is passive compliance a key to learn contact motion?,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1647-1652, 2008.
-  M. Okada et al., “Design of programmable passive compliance shoulder mechanism,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 348-353, 2001.
-  H. Iwata et al., “Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1785-1790, 2005.
-  B.-S. Kim and J.-B. Song, “Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism,” IEEE Int. Conf. on Robotics and Automation, pp. 1655-1660, 2010.
-  S. Salcudean and C. An, “On the control of redundant coarsefine manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 1834-1840, 1989.
-  M. Tsuda et al., “Magnetic levitation servo for flexible assembly automation,” Int. J. of Robotics Research, Vol.11, No.4, pp. 329-345, 1992.
-  M. Kaneko et al., “Direct compliance control of manipulator arms – basic concept and application examples –,” Proc. of IFAC Symposium on Robot Control, pp. 8.1-8.6, 1988.
-  R. V. Patel et al., “A robust position and force control strategy for 7-dof redundant manipulators,” IEEE/ASME Trans. on Mechatronics, Vol.14, No.5, pp. 575 -589, 2009.
-  B. Dizioglu and K. Lakshiminarayana, “Mechanics of form closure,” Acta Meehaniea, Vol.52, pp. 107-118, 1984.
-  Z. Wang and V. Kumar, “Object closure and manipulation by multiple cooperating mobile robots,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 394-399, 2002.
-  R. Fukui et al., “Development of an intelligent container prototype for a logistical support robot system in living space,” Proc. of Int. Conf. on Intelligent Robots and Systems, pp. 3397-3402, 2007.
-  T. Sato and R. Fukui et al., “Construction of ceiling adsorbed mobile robots platform utilizing permanent magnet inductive traction method,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 552-558, 2004.
-  R. Fukui et al., “Development of a manipulation component for a container transferring robot in living space (design and evaluation of a high compliant manipulation mechanism),” Proc. of 11th Int. Symposium on Experimental Robotics, 2008.
-  R. Fukui et al., “Development of a home-use automated container storage/retrieval system,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2875-2882, 2008.
-  R. Fukui et al., “Development of optical measurement system for acquiring position of container cases in living space,” Proc. of SICE SI2007, pp. 1294-1295, 2007 (in Japanese).
-  R. Fukui et al., “iDock: a multifunctional intermediate instrument to improve efficiency of domestic delivery and storage system,” Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 1939-1945, 2009.
-  Labour Ministry of Health and Welfare, “National livelihood survey, 2007,” 2007.
-  SHUFUNOTOMO(Eds.), “Shufunotomo Best Books: Suguwakaru Kaigo,” SHUFUNOTOMO Co., Ltd., 2009 (in Japanese).
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.
Copyright© 2011 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.