Motion planning for fetch-and-give task using wagon and service robot

Yoonseok Pyo, Kouhei Nakashima, Tokuo Tsuji, Ryo Kurazume, Ken'Ichi Morooka

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    6 Citations (Scopus)

    Abstract

    Daily life assistance for elderly individuals in hospitals and care facilities is one of the most urgent and promising applications for service robots. Especially, a fetch-and-give task is a frequent and fundamental task for service robots to assist elderlys daily life. In hospitals and care facilities, this task is often performed with a movable platform such as a wagon or a cart to carry and deliver a large amount of objects at once. Thus the navigation and control of not only a service robot but also a movable platform must be planned safely. In addition, a robot motion planning to hand over an object to a person safely and comfortably according to his/her posture is also an important problem in this task, however this has not been discussed so much. In this work, we present a coordinate motion planning technique for a fetch-and-give task using a wagon and a service robot. Handover motion is also planned by considering the manipulability of both a robot and a person. Experiments of a fetch-and-give task using a service robot are successfully carried out.

    Original languageEnglish
    Title of host publicationAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages925-932
    Number of pages8
    ISBN (Electronic)9781467391078
    DOIs
    Publication statusPublished - Aug 25 2015
    EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of
    Duration: Jul 7 2015Jul 11 2015

    Publication series

    NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Volume2015-August

    Conference

    ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
    Country/TerritoryKorea, Republic of
    CityBusan
    Period7/7/157/11/15

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Science Applications
    • Electrical and Electronic Engineering

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