Autonomous Mobile Garbage Collector Robot with Universal Vacuum Gripper

Abstract

This paper describes the development of an autonomous mobile robot equipped with UVG(Universal Vacuum Gripper) for picking up trash in urban areas. The robot has two differential wheels and an arm with UVG as an end effector. The function of the robotic arm is not limited to picking up trash, as UVG can deform to the shape of the contact object and grasp it. Experiments were conducted in the real world at the "Nakanoshima Robot Challenge 2022" autonomous robot demonstration event. In this research, we propose a system that uses this robot to provide a trash pickup service indoors or outdoors.