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

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ707-711
ページ数5
ISBN(電子版)9781538636152
DOI
出版ステータス出版済み - 4 25 2019
イベント2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, フランス
継続期間: 1 14 20191 16 2019

出版物シリーズ

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

会議

会議2019 IEEE/SICE International Symposium on System Integration, SII 2019
Countryフランス
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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