袋付きマニピュレータを備えた小型移動ロボットによる複数物体および長尺物の片付け

抄録

Studies have been conducted on tidying up objects on the floor by mobile robots. Problems in the studies are i) limiting the number of objects due to the number of manipulators, ii) difficulty of activities in the space with a low ceiling, and iii) limiting the size of objects due to the size of the robot body. This study proposes a manipulator which attaches a bag to the end-effector of a parallel link mechanism attached a bag and a small mobile robot equipped with the manipulator. The bag has the advantages in which it can carry multiple objects, it is smaller when it is not used, and it can carry long objects. These advantages solve problems (i), (ii), and extend the limit of problem (iii) to long objects. The robot has three manipulators: one with a bag and two for auxiliary collection. The auxiliary manipulators are used to collect multiple objects, collect long objects, and return from turnover during transportation. For problem (i), it realizes tidying up multiple objects that the auxiliary manipulator grasps an object and drops it into a bag when other object is in a bag. For problem (ii), it is possible to continue the task in the space with a low ceiling by reducing the height of the robot when a bag is not used. For problem (iii), it is possible to tidy up a long object by pushing a long object against a surrounding wall and placing it in a bag. Finally, this study demonstrates tidying up multiple objects which includes collection, transportation, and discharge by image recognition．