Summary
Mobile robots used in the human-robot coexisting environment are required to perform continuous works without human maintenance. On the other hand, they need a rechargeable batteries that require charge, generally. Therefore, an autonomous battery-charging for mobile robots has a big advantage for performing continuous works. However, installation of exclusive use of battery-charging-stations requires much cost.
To improve this situation, we aim to realize an autonomous battery-charging motion for a mobile manipulator using conventional electrical outlets. In this motion, the robot is navigated to a front of an outlet, and a plug attached at the tip of the manipulator is controlled to insert into the outlet. To realize the motion, we implemented “distance transform method” for navigation, and a motion of plug insertion using force feedback control.
In this paper, we explain the above implementations, and we discuss advantages and limitations of such motions.
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http://www.irobot.com/ (Roomba)
http://www.jp.aibo.com/ (AIBO)
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© 2006 Springer-Verlag Berlin Heidelberg
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Yamada, T., Nagatani, K., Tanaka, Y. (2006). Long-Term Activities for Autonomous Mobile Robot. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_33
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DOI: https://doi.org/10.1007/978-3-540-33453-8_33
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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