Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms. (17th September 2022)
- Record Type:
- Journal Article
- Title:
- Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms. (17th September 2022)
- Main Title:
- Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms
- Authors:
- Wakayama, Tatsuhiro
Fujiura, Eri
Yamaguchi, Mari
Yoshida, Naoki
Inoue, Tomoaki
Ikeuchi, Hiroki
Yamamoto, Masaki
El Hafi, Lotfi
Garcia Ricardez, Gustavo A.
Takamatsu, Jun
Taniguchi, Tadahiro
Ogasawara, Tsukasa - Abstract:
- Abstract : In recent years, the labor shortage has become a significant problem in Japan and other countries due to aging societies. However, service robots can play a decisive role in relieving human workers by performing various household and assistive tasks. Restroom cleaning is one of such challenging tasks that involve performing motion planning in a constrained restroom setting. In this study, we propose a mobile manipulator to perform various tasks related to restroom cleaning. Our key contributions include system integration of multiple tools on an arm with high DoF mounted on a mobile, omni-directional platform capable of versatile service cleaning and with extended reachability. We evaluate the performance of our system with the competition setting used for the restroom cleaning task of the Future Convenience Store Challenge at the World Robot Summit 2020, where we obtained the 1st Place. The proposed system successfully completed all the competition tasks within the time limit and could remove the liquid with a removal rate of 96%. The proposed system could also dispose of most garbage and got an average garbage disposal rate of 90%. Further experiments confirmed the scores obtained in the competition with an even higher liquid removal rate of 98%. GRAPHICAL ABSTRACT: UF0001
- Is Part Of:
- Advanced robotics. Volume 36:Number 17/18(2022)
- Journal:
- Advanced robotics
- Issue:
- Volume 36:Number 17/18(2022)
- Issue Display:
- Volume 36, Issue 17/18 (2022)
- Year:
- 2022
- Volume:
- 36
- Issue:
- 17/18
- Issue Sort Value:
- 2022-0036-NaN-0000
- Page Start:
- 967
- Page End:
- 981
- Publication Date:
- 2022-09-17
- Subjects:
- Restroom cleaning -- compliant end effector -- multi-tool system -- garbage disposal -- Future Convenience Store Challenge
Robotics -- Periodicals
Robotics -- Japan -- Periodicals
Robotics
Japan
Periodicals
629.89205 - Journal URLs:
- http://www.catchword.com/rpsv/cw/vsp/01691864/contp1.htm ↗
http://catalog.hathitrust.org/api/volumes/oclc/14883000.html ↗
http://www.tandfonline.com/toc/tadr20/current ↗
http://www.tandfonline.com/ ↗
http://firstsearch.oclc.org ↗
http://firstsearch.oclc.org/journal=0169-1864;screen=info;ECOIP ↗
http://www.ingentaselect.com/vl=16659242/cl=11/nw=1/rpsv/cw/vsp/01691864/contp1.htm ↗ - DOI:
- 10.1080/01691864.2022.2109430 ↗
- Languages:
- English
- ISSNs:
- 0169-1864
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 0696.926500
British Library DSC - BLDSS-3PM
British Library STI - ELD Digital store - Ingest File:
- 24095.xml