DEVELOPMENT OF A MOBILE MANIPULATOR SYSTEM WITH RFID-BASED SENSOR FUSION FOR HOME SERVICE: A CASE STUDY ON MOBILE MANIPULATION OF CHAIRS

摘要

A mobile manipulator system as a versatile platform for home service has been developed by authors toward practical realizations. Two features of the system are addressed. One is the efficient and easy recognition of environment and objects about geometrical, physical and additional information by an RFID (Radio Frequency IDentification)-based sensor fusion system. The other is such geometrical, physical and additional information-based manipulation including mobile manipulation for various objects. In this paper, mobile manipulation of various chairs for home service is described. The methods for recognition and mobile manipulation are proposed and experimental results are given to show the feasibility of the proposed methods.