Conference Paper

Development of an intelligent container prototype for a logistical support robot system in living space

Univ. of Tokyo, Tokyo
DOI: 10.1109/IROS.2007.4399362 Conference: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Source: IEEE Xplore

ABSTRACT This paper reports development of an intelligent container, a unit of the logistical support robot system in living space. The container not only supports human to fix and arrange their commodities, but also supports robots to achieve their logistical tasks. In other words, the intelligent container is a mediator between human's request and robots' capabilities. The container has four major roles in our logistical support system. (1) Taking several commodities in and recognizing and acquiring contents' information. (2) Supporting human and robots to transfer the container. (3) Receiving users' command as a simple user-interface. (4) Communicating to a host computer and informs the contents of the container and users' command. To realize those roles, the container is equipped with a grasping navigation mechanism for robot handling, RFID reader for the recognition of contents, and LCD device to display supporting information to human and robot. Finally, a primary function is evaluated in experiment to confirm that an acceleration sensor enables the container to detect being transferred by human. In the future, the intelligent container will play a role of contact point for human and robots in our target system, that enables human-robot symbiotic life.

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    • "fukui(at mark)ics.t.u-tokyo.ac.jp Photo Illustration of iDock used by the user Table part Up-and-down part Antenna part Ceiling part i-Container Fig. 2. Photo and illustration of iDock 1) intelligent Container(i-Container), which is a sophisticated storage box and plays a role of mediator between human and robots in the presented system[2]. 2) Ceiling mobile robot, which carries i-Containers[3]. 3) Automated container storage/retrieval system, a high space-efficient home-use warehouse which is composed of a rack system and a special designed stacking robot[4]. "
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    ABSTRACT: This paper describes development of ldquoiDockrdquo, which is used for a container temporal stacker. iDock serves as if it is a mail-box in the post-service or a service station of the door-to-door delivery system to improve efficiency of domestic delivery and storage robot system. The instrument realizes stack of containers, recognition of contents in containers, and navigation of robots. To acquire information of contents in containers, RFID tags are attached to contents and scanned by movable RFID antenna of iDock. By experiments, it is confirmed that the movable RFID antenna is applicable to robust reading, and guide plates for human and robot can actualize smooth handing over task of containers between a user and a robot.
    Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on; 08/2009
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    • "The system is composed of following sub-systems. 1) intelligent container(i-Container) which plays a role of mediator between humans and robot system[2]. 2) Ceiling mobile type container transfer robot. 3) home-use automated container store/retrieve system[3]. "
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    ABSTRACT: We aim to realize a home-use container logistical system, which transfers, stocks and manages daily objects in our living space. In previous researches, some key technologies for robust robot locomotion, accurate container position measurement and compliant container manipulation are developed. A purpose of this paper is to integrate the stated elemental technologies into measurement and control system and evaluate capabilities of the system. There are two characteristics in our measurement and control scheme. (1) Mechanical compliant elements can absorb measurement and control errors. (2) In an object handling phase, there is no obvious feedback control. By experiments, robustness of the presented scheme and effectiveness of compliant mechanisms were confirmed. Thorough the development and experiment, this paper revealed several technical key points to apply industrial know-how of mechanical compliance to home-use robots.
    Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on; 08/2009
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    • "LCD Display Joint Pin for Robots Cover for Joint Pin Push Switches for User Interface Handle for Human Fig. 2. Overview of intelligent container prototype magazines, CDs, preservative foods, grocery stock and so on. In this system, an intelligent container (i-Container, Fig.2 [1]) plays a role of mediator and cooperates with a ceiling mobile robot[2] and rack systems to realize a space efficient storage/retrieval system in a living space. This paper discusses development of a home-use automated container storage/retrieval system (ACSRS) which is realized by integrating rack systems and container stacking robot. "
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    ABSTRACT: This paper describes development of home-use automated container storage/retrieval system, a sub-system of a logistical support robot system in living space. The s/r system has 3 features. (1) Elevator type structure enables not only auto stocking motion, but also human access to containers as if the auto rack is a general shelf. (2) A separated motion layout enables us to utilize upper ceiling space as a stock space, and decreases possibility of accidental stuck by reducing the volume of robotpsilas motion. (3) The collaboration of a container guide plate and sensing with RFID actualize to navigate people to place a container on a shelf with desired position and posture. By experiments, it is confirmed that the ACSRS can transfer a container and 5 [kg] load (total 8 [kg]). We summarize significant technical points to design a system of this type.
    Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on; 10/2008

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