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.
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