投棄ゴミの回収を行う屋外サービスロボットの開発  [in Japanese] Development of Outdoor Service Robot to Collect Trash on Streets  [in Japanese]

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Author(s)

Abstract

The outdoor service robot which we call OSR-01 is developed intending for cleaning up urban areas by means of collecting discarded trash such as PET bottles, cans, plastic bags and so on. We, in this paper, describe the architecture of OSR-01 consisting of hardwares such as sensors, a manipulator, driving wheels, etc. for searching for and picking up trash, and softwares such as fast pattern matching for identifying various trash and distance measurement for picking up via the manipulator. After describing the vision system in detail, which is one of the most critical parts of the trash collection task, we show the result of an open experiment in which OSR-01 collects PET bottles on a real shopping street in the special zone for robot research and development in Kitakyushu-city.

Journal

  • IEEJ Transactions on Electronics, Information and Systems

    IEEJ Transactions on Electronics, Information and Systems 126(7), 840-848, 2006-07-01

    The Institute of Electrical Engineers of Japan

References:  17

Cited by:  3

Codes

  • NII Article ID (NAID)
    10018146436
  • NII NACSIS-CAT ID (NCID)
    AN10065950
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    03854221
  • NDL Article ID
    8022497
  • NDL Source Classification
    ZN31(科学技術--電気工学・電気機械工業)
  • NDL Call No.
    Z16-795
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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