Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks

Ryosuke Tatara, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel inflatable robotic arm on a mobile platform. To date, inflatable structures have been utilized for robotic arms to provide the workforce in the welfare and nursing care fields. In these fields, inflatable robots, which is lightweight, soft and compactable, is suitable to perform daily tasks near humans and things because of safe contact. In our research group, an inflatable robotic arm consisting of inflatable links, inflatable actuators and a gripper with pleated sheet structures have been developed.In this paper, the robotic arm is utilized in combination with a mobile platform in order to realize practical daily tasks. As an example of the task, a fetch-and-give task is demonstrated. The posture of the robotic arm and the position of the mobile platform is measured by a motion capture system. The whole system is controlled based on the visual information. Finally, it is confirmed that the inflatable robot has sufficient performance for a daily task in living space.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages707-711
Number of pages5
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - Apr 25 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: Jan 14 2019Jan 16 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period1/14/191/16/19

All Science Journal Classification (ASJC) codes

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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  • Cite this

    Tatara, R., Nomaguchi, N., Kawamura, A., Kurazume, R., & Kawamura, S. (2019). Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 707-711). [8700431] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700431