Transportation robot (TR)

　

Introduction
The aim of this project, which is carried out in cooperation with several Japanese universities (see below) is to build a general-purpose robot for reliable (indoor) transportation and delivery of goods. An important aim with the project is also to test the utility function (UF) method in a complex, real-world task.

　

Completed project milestones

　

Item Status
Detailed project formulation Completed March 2005
Improvements of the UF method Completed June 2006
System identification of hardware components Completed June 2006
Simulation software Completed June 2006
Simulations for the basic transportation robot (3 behaviors) Completed June 2006
Project meeting at Waseda University, Tokyo Took place in June 2006
Construction of first prototype Completed August 2006

Upcoming project milestones

　

Item Status
Simulations for the complete transportation robot (7+ behaviors) September 2006 - January 2007
Construction of the second prototype (full-scale), Sweden January 2007 - April 2007
Construction of the second prototype (full-scale), Japan January 2007 - April 2007

　

Detailed project formulation

　

TBA

　

Project participants:

　

　

Dr. Pitoyo Hartono Future University, Hakodate, Japan
Prof. Shuji Hashimoto Waseda University, Tokyo, Japan
Mr. Jimmy Pettersson Chalmers University of Technology, Göteborg, Sweden
Dr. Ryo Saegusa Waseda University, Tokyo, Japan
Dr. Kenji Suzuki Tsukuba University, Tsukuba, Japan
Dr. Mattias Wahde (Project leader) Chalmers University of Technology, Göteborg, Sweden
Mr. Krister Wolff Chalmers University of Technology, Göteborg, Sweden

　

Simulations for the basic transportation robot

　

(More information to be added)

　

Typical arena for the simulations.

　

The transportation robot in action.

　

　

Construction of first prototype

　

(More information to be added)

　

   

Publications

  1. Wahde, M. and Pettersson, J. A General-Purpose Transportation Robot - An Outline of Work in Progress, In: Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man2006), pp. 722-726, 2006

  2. Pettersson, J. and Wahde, M.  Behavior selection for localization and navigation in

    a transportation robot, Manuscript in preparation

Acknowledgement

We are grateful to the Carl Trygger Foundation (Carl Tryggers stiftelse)  for partial financial support for this project.

　

This page is under construction. Last update 20060914, 07.10