Journal of Robotics and Mechatronics
Online ISSN : 1883-8049
Print ISSN : 0915-3942
ISSN-L : 0915-3942
Special Issue on Developments and Learning from the World Robot Challenge
Multifunctional Shelf and Magnetic Marker for Stock and Disposal Tasks in Convenience Stores
Tomohito TakuboTakeshi NakamuraRiko SugiyamaAtsushi Ueno
ジャーナル オープンアクセス

2023 年 35 巻 1 号 p. 18-29


Product management using a multifunctional shelf, and manipulation using an electromagnet hand and a magnetic marker, are proposed for stock and disposal tasks. The multifunctional shelf manages the type, position, and number of products on the shelf, and plans display and disposal operations. The shelf provides directions to a mobile manipulator for moving products on the shelf according to the display and disposal plan. The proposed multifunctional shelf has a camera on each level that helps the mobile manipulator recognize the product. By optimizing the movement of products, the display and disposal work can be performed much more efficiently. To quickly grasp the product, a new manipulation strategy using a magnetic marker and an electromagnet hand is proposed. The electromagnet hand has two electromagnets and can quickly grasp and release the magnet marker by changing the S/N pole pair. Experiments using the proposed multifunctional shelf and electromagnet hand were conducted to demonstrate the effectiveness of the proposed system.



© 2023 Fuji Technology Press Ltd.

This article is licensed under a Creative Commons [Attribution-NoDerivatives 4.0 International] license (
The journal is fully Open Access under Creative Commons licenses and all articles are free to access at JRM official website.
前の記事 次の記事