Development of a Mobile Robot for Transport Application in Hospital
Masaki Takahashi*, Toshiki Moriguchi**, Shoji Tanaka**,
Hirofumi Namikawa**, Hideo Shitamoto**, Tsuyoshi Nakano**,
Yuichirou Minato**, Takashi Ihama**, and Takahiko Murayama***
*Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
**Murata Machinery, Ltd., Japan
***Murata Engineering, Ltd., Japan
We have been developing the Muratec Keio Robot (MKR), an autonomous omnidirectional mobile robot system for transport applications in the hospital domain. This robot has a chamber to transfer luggage, specimens, and other materials safely. The robot has sensor devices such as a stereocamera, laser range finder and ultrasonic sensors to recognize surrounding environment and user interfaces such as a touch panel display and a display scrolling messages for interaction with human beings. Experiments are carried out at hospitals to verify the performance of elemental MKR-003 technology. Experimental results confirmed that the robot canmove without colliding with static or moving obstacles in a hospital. This paper presents the omnidirectional mobile transfer mechanisms, bumper switch, elevator passenger system and transport information systems.
Hirofumi Namikawa, Hideo Shitamoto, Tsuyoshi Nakano,
Yuichirou Minato, Takashi Ihama, and Takahiko Murayama, “Development of a Mobile Robot for Transport Application in Hospital,” J. Robot. Mechatron., Vol.24, No.6, pp. 1046-1053, 2012.
-  M. Takahashi, T. Suzuki, T. Moriguchi, H. Shitamoto, and K. Yoshida, –Developing a mobile robot for transport applications in the hospital domain,” J. of Robotics and Autonomous Systems, Vol.58, Issue 7, pp. 889-899, 2010.
-  T. Suzuki, M. Takahashi, and K. Yoshida, –Development of Autonomous Omni-directional Traction and Transfer Mobile Robot,” J. of the Robotics Society of Japan, Vol.27, No.8, pp. 942-949, 2009.
-  M. Takahashi, Y. Tada, T. Suzuki, and K. Yoshida, –Multi Time Scale Behavior Control Method for Autonomous Omni-Directional Mobile Robots,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.74, No.747, pp. 2690-2797, 2008.
-  T. Suzuk and M. Takahashi, –Obstacle Avoidance Considering Robot’s Size for an Autonomous Omni-Directional Mobile Robot by Simultaneous Control of Translational and Rotational Motions,” Trans. of the Japan Society of Mechanical Engineers, C, Vol.76, No.772, pp. 3567-3575, 2010.
-  M. Takahashi, T. Suzuki, F. Cinquegrani, R. Sorbello, and E. Pagello, –A Mobile Robot for Transport Applications in Hospital Domain with Safe Human Detection Algorithm,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, China, pp. 2543-2548, 2009.
-  M. Takahashi and T. Suzuki, –Multi Scale Moving Control Method for Autonomous Omni-directional Mobile Robot,” Proc. of 6th Int. Conf. on Informatics in Control, Automation and Robotics, Italy, 2009.
-  T. Suzuki and M. Takahashi, –Obstacle Avoidance for Autonomous Mobile Robots Based on Position Prediction Using Fuzzy Inference, Numerical Simulations – Theory and Application,” In-Tech, 2011. ISBN: 978-953-307-389-7
-  T. Suzuki and M. Takahashi, –Translational and Rotational Motion Control Considering Width for Autonomous Mobile Robot by Using Fuzzy Inference, Numerical Simulations – Theory and Application,” In-Tech, 2011. ISBN: 978-953-307-389-7
-  A. Pretto, E. Menegatti, E. Pagello, M. Takahashi, and T. Suzuki, –Visual Odometry for an Omnidirectional-drive Robot,” Proc. of the 6th Int. Symposium on Mechatronics and its Applications, UAE, 2009.
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