Autonomous mobile robot moving through static crowd: Arm with one-dof and hand with involute shape to maneuver human position

Noriaki Imaoka, Kazuma Kitazawa, Mitsuhiro Kamezaki, Shigeki Sugano, Takeshi Ando

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish
Pages (from-to)59-67
Number of pages9
JournalJournal of Robotics and Mechatronics
Volume32
Issue number1
DOIs
Publication statusPublished - 2020

Keywords

  • Arm mechanism
  • Autonomous mobile robot
  • Human-robot interaction

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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