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- W1555962844 abstract "Daily life assistance for elderly individuals in hospitals and care facilities is one of the most urgent and promising applications for service robots. Especially, a fetch-and-give task is a frequent and fundamental task for service robots to assist elderlys daily life. In hospitals and care facilities, this task is often performed with a movable platform such as a wagon or a cart to carry and deliver a large amount of objects at once. Thus the navigation and control of not only a service robot but also a movable platform must be planned safely. In addition, a robot motion planning to hand over an object to a person safely and comfortably according to his/her posture is also an important problem in this task, however this has not been discussed so much. In this work, we present a coordinate motion planning technique for a fetch-and-give task using a wagon and a service robot. Handover motion is also planned by considering the manipulability of both a robot and a person. Experiments of a fetch-and-give task using a service robot are successfully carried out." @default.
- W1555962844 created "2016-06-24" @default.
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- W1555962844 date "2015-07-01" @default.
- W1555962844 modified "2023-10-18" @default.
- W1555962844 title "Motion planning for fetch-and-give task using wagon and service robot" @default.
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- W1555962844 doi "https://doi.org/10.1109/aim.2015.7222657" @default.
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