Design and Control of Librarian Robot System in Information Structured Environments

摘要

An information structured environment enables robots to complete specific tasks based on the information and knowledge provided by the environment. In our study, an information structured environment called u-RT space enabled a librarian robot to arrange books on bookshelves using ambient intelligence. The librarian robot consists of a manipulator, which can recognize and manipulate books, and a mobile platform, which can localize itself and navigate using ambient RFID tags embedded in a floor. The proposed u-RT space connects physical and virtual space using physical hyperlinks. The performance of the proposed librarian robot in u-RT space is evaluated by considering a particular scenario.