Authors: Wattanasin, Chatchai¹; Aiyama, Yasumichi²; Kurabayashi, Daisuke³; Ota, Jun⁴; Arai, Tamio⁴

Source: Advanced Robotics, Volume 15, Number 6, 2001 , pp. 695-710(16)

Publisher: VSP, an imprint of Brill

Abstract:

Service robots are frequently fitted with end-effecters, which require high energy, to achieve a specific task. Robots require high-power energy sources that can meet several goals simultaneously. Given the technology of today, a battery-driven robot cannot work for long on a single charge. Todevelop a new powerful battery technology may take many years of exhaustive research. In this paper, we present a dual-energized scheme called HYbrid POwer Supply (HYPOS) that integrates the function of batteries and a household electric system to supply a robot. This technique can be realized by existing technology and is applicable to a variety of indoor applications. The challenge of implementing the HYPOS system is to develop the outlet-connection procedures and to handle the electric cord to reduce movement disturbance. We report on the prototype robot and the experiments that illustrate the effectiveness and practicality of this proposed system. The result has shown that the HYPOS system can supply a robot consecutively for almost 2 h and its efficiency is 73.6%, while the efficiency of a lead-acid battery is only 38.5%.

Keywords: SERVICE ROBOT; POWER SUPPLY; HYBRID SYSTEM; MOBILE ROBOT; SWEEPING TASK

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855301317035205

Affiliations: 1: Institute of Advance Studies, United Nations University, 5-53-67 Jingu-mae, Shibuya-ku, Tokyo 150-8304, Japan 2: Institute of Engineering Mechanics and Systems, University of Tsukuba, 1-1-1 Tennodai, Tsuhuba 305-8573, Japan 3: Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo, 152-8550, Japan 4: Department of Precision Machinery Engineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Publication date: 2001-10-01

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