Labor shortages have been reported in numerous developed economies, and they are becoming increasingly severe, particularly in convenience stores. An important task in a convenience store is the display and disposal of a wide variety of products. However, there are technological gaps between the present technology and the expected setup. To solve the demand for the display and disposal tasks in convenience stores, ‘World Robot Summit Future Convenience Store Challenge(WRS FCSC)’ was established in 2017. The tasks of WRS FCSC are important; however, it is difficult to completely achieve the required tasks because the tasks in convenience stores are optimized for human workers. In this study, we first analyze the functions required to solve the problems of tasks in WRS FCSC. Through the analysis, we have developed several system components including two kinds of grippers for dual-arm and its manipulation strategy, intelligent shelf with manipulation support function and human detection function surrounding the shelf, object pose detection algorithm, precise autonomous navigation strategy, and management system to integrate the all the components. The effectiveness of the developed system is evaluated through the same scenario of WRS FCSC. Through the experiment, we confirmed the effectiveness our developed system.
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