介護施設内における巡回システムの開発

抄録

The demand for robotic assistive technologies is increasing due to the aging and the decrease of population. One possible application is a robot system which autonomously patrols a nursing home and provides necessary services. In this paper, we develop a robot which can visit all rooms and supply items if necessary. We developed a finite state machine-based scheduler to execute the functions like movement and grasping for achieving the task. All software modules realizing all necessary functions are implemented on the ROS environment.