Page 35 - Mechatronics for Safety, Security and Dependability in a New Era

Ch05-I044963.fm Page 19 Tuesday, August 1, 2006 5:42 PM
19
Page
1, 2006
Tuesday, August
Ch05-I044963.fm
5:42 PM
19 19
DEVELOPMENT OF A WELFARE ROBOT BASED ON RECS CONCEPT
- TASK OF SETTING A MEAL ON THE TABLE -
T. Yamaguchi, H. Kawano, M. Takano and S. Aoyagi

Systems Mangement Engineering, Kansai University
3-3-35, Yamate-cho, Suita, Osaka 564-8680, Japan

ABSTRACT
In this paper, a home robot is developed based on RECS (Robot Environment Compromise System)
concept. This concept aims to share the technical difficulties with robot and environment. In other
words, RECS modifies the environment in order that the robot task would be possible or easy. Among
the various domestic tasks, setting a meal on the table is focused. This task comprises preparing a meal
and loading tableware with meals to a tray at a kitchen, transporting this tray to the table, putting the
tableware on the table, and pouring bottled drinks to cups on demand.

KEYWORDS
RECS concept, Setting a meal, Robot, Image processing, Barcode mark

INTRODUCTION
An aging society is progressing at high speed in advanced countries, especially in Japan. In the middle
in the twenty-first century, it is predicted that two or three adult persons should support one aged
person, and the care workers are apparently in short supply. As one of the countermeasure to this,
technical assistance by a robot is much expected. The present level of the robot technology is not
sufficient for performing multiple complicated tasks autonomously. Considering this, authors have
1
already proposed RECS (Robot Environment Compromise System) concept ' as shown in Fig. 1. This
concept aims to share the technical difficulties with robot and environment. In other words, RECS
modifies the environment in order that the robot task would be possible or easy. This modification
should be minimized to the extent that the human beings who live and work in the environment do not
feel uncomfortable and are not obstructed.

SYSTEM OF WELFARE ROBOT

A welfare and home robot based on RECS concept is developed as shown in Fig. 2. This robot
comprises a mobile platform and a 7 DOF articulated manipulator arm on it. This platform is equipped