Autonomous Mobile Robot Moving Through Static Crowd: Arm with One-DoF and Hand with Involute Shape to Maneuver Human Position | Zendy

Noriaki Imaoka | Zendy; Kazuma Kitazawa | Zendy; Mitsuhiro Kamezaki | Zendy; Shigeki Sugano | Zendy; Takeshi Ando | Zendy

Open Access

Autonomous Mobile Robot Moving Through Static Crowd: Arm with One-DoF and Hand with Involute Shape to Maneuver Human Position

Author(s) -

Noriaki Imaoka,

Kazuma Kitazawa,

Mitsuhiro Kamezaki,

Shigeki Sugano,

Takeshi Ando

Publication year - 2020

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2020.p0059

Subject(s) - robot , mobile robot , computer science , position (finance) , simulation , degrees of freedom (physics and chemistry) , artificial intelligence , robotic arm , computer vision , engineering , control engineering , physics , finance , quantum mechanics , economics

Owing to manpower shortages, robots are expected to be increasingly integrated into society in the future. Moreover, robots will be required to navigate through crowded environments. Thus, we proposed a new method of autonomous movement compatible with physical contact signaling used by humans. The method of contact was investigated before using an arm with six degrees of freedom (DoF), which increases the cost of the robot. In this paper, we propose a novel method of navigating through a human crowd by using a conventional driving system for autonomous mobile robots and an involute-shaped hand with an one-DoF arm. Finally, the effectiveness of the method was confirmed experimentally.

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