Measurement and control scheme for a container transfer robot in living space

We aim to realize a home-use container logistical system, which transfers, stocks and manages daily objects in our living space. In previous researches, some key technologies for robust robot locomotion, accurate container position measurement and compliant container manipulation are developed. A purpose of this paper is to integrate the stated elemental technologies into measurement and control system and evaluate capabilities of the system. There are two characteristics in our measurement and control scheme. (1) Mechanical compliant elements can absorb measurement and control errors. (2) In an object handling phase, there is no obvious feedback control. By experiments, robustness of the presented scheme and effectiveness of compliant mechanisms were confirmed. Thorough the development and experiment, this paper revealed several technical key points to apply industrial know-how of mechanical compliance to home-use robots.