TY - GEN
T1 - Development of an Inflatable Robotic Arm on Mobile Platform for Fetch-and-Give Tasks
AU - Tatara, Ryosuke
AU - Nomaguchi, Naoki
AU - Kawamura, Akihiro
AU - Kurazume, Ryo
AU - Kawamura, Sadao
N1 - Funding Information:
ACKNOWLEDGEMENTS This research is supported by the Japan Society for the Promotion of Science Grant-in-Aid for Basic Research (B) (JP18H03764).
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - 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.
AB - 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.
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U2 - 10.1109/SII.2019.8700431
DO - 10.1109/SII.2019.8700431
M3 - Conference contribution
AN - SCOPUS:85065637652
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 707
EP - 711
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -