多点リフトアップ型移動ロボットによるテーブル自動搬送システム

摘要

In this research, an autonomous robot system is developed for a table transportation, which is motivated by the fact that tables are heavy and frequently transported in daily life. As the process of the table transportation, the robot recognizes tables, moves under the table, lifts up the bottom side, and transports it. In this strategy, the robot must hold around the center of gravity of the table to avoid falling. Therefore, the robot is equipped with pressure sensors to measure the center of gravity and adjust the lift up position. The robot is also equipped with lift up mechanisms with independent four support points developed for stably lifting up the table even when there are something on the table. Thus, this paper describes the details of the developed robot system, the equipped functions, and the experimental results for an automatic table layout.%近年，日本は少子高齢化が急速に進行しており，高齢者の増加による介護従事者の不足，団塊の世代の退職や少子化による労働力人口の減少が問題視されている．これらの問題の解決策として，ロボットが人間の作業の支援や代行を行うことで労働の効率化や身体への負荷を軽減することが期待されている．