屋内外の自律作業ロボットの検討

―電動車椅子に基づくハードウェア設計および触覚を用いた把持戦略―

抄録

Against the backdrop of aging population with low birthrate, robots for saving human operators have a large demand for solution of labor shortage by robotics. Especially, robots for indoors and outdoors use or, robots with haptic monitoring have superiority in multifunctionality. In this paper, autonomous mobile robot with hardware design based on electric wheelchair is proposed. Furthermore, haptic grasping strategy with universal vacuum hand is also proposed. As a result, robot that can work both indoors and outdoors and, linkage of haptic monitoring and arm operation is realized.