Book browsing system using an autonomous mobile robot teleoperated via the internet

摘要

This paper describes a system which uses a mobile robot as a teleoperated tool for accessing and manipulating remote objects. The purpose of this study is to develop a robot system which helps humans to accomplish remotely a given task in their daily life, based on simple communication and mutual cooperation between them and a teleoperated mobile robot. The specific task we set up in this research is to help humans browse books of a library from a remote location. In this work, we build such a system accordingly to its basic requirements involving autonomous navigation, environment perception, book manipulation and teleoperation. In this paper, we present the developed book browsing robot system, its teleoperation human interface and evaluate its performance and operating efficiency through experimental results.