NDLI: Portable effector docking mechanism for a service mobile robot and its positioning

Content Provider	IEEE Xplore Digital Library
Author	Takeuchi, E. Tsubouchi, T.
Copyright Year	2006
Description	Author affiliation: Intelligent Robot Lab., Tsukuba Univ., Ibaraki (Takeuchi, E.; Tsubouchi, T.)
Abstract	The present authors take such an approach to build a service mobile robot that all the robot functions are categorized into common functions and specific functions. The common functions are assigned to a mobile robot and the specific functions are assigned to a specific mechanism. A "portable effector" is designed for a mechanism to accomplish the specific task. The portable effector is placed on the floor near the task space in the environment. A navigation and docking functions with the effector provided as common functions for the mobile robot. The robot changes the portable effector automatically according to the assigned task. In this paper, the authors describe techniques of automatic docking with portable effector for the mobile robot. They include position alignment technique proper to docking by PWS type mobile robot using simple sensor and mark, and firm holding mechanism between the robot and the effector. The docking mechanism is designed so as to allow alignment error at the time of docking. The authors illustrate portable effector changing operation using two kinds of portable effectors in the real environment
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3380
Ending Page	3386
File Size	1816096
Page Count	7
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642218
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robotics and automation Robot sensing systems Service robots Humans Intelligent robots Navigation Prototypes Systems engineering and theory Orbital robotics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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