1P1-C33 「手足」のついたパソコンをつくる : 多目的移動ロボットプラットフォームを目指した機能のモジュール化

概要

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Nowadays, developments of so-called "Home-use robot" ,or "office-use robot" have been very active. The challanges to realize such robots are: (l)navigation in realistic environment, (2)performing multiple tasks,and (3)tradeoff between their performances and costs. A solution for these challenges is proposed in this paper. The authors proposed external sensor abstruction software system and a work effecter changeable mobile robot system with an auto effector changer for home-use or office-use robots. This robot system can accomplish the desired environment by selecting suitable external sensors and the desired task by selecting and docking a suitable effector. In this paper, the authors describe concept of modulalization for home or office-use working mobile robot.
一般社団法人日本機械学会の論文