Human-robot collaboration and cooperation are critical for Autonomous Mobile Robots (AMRs) in order to use them in indoor environments, such as offices, hospitals, libraries, schools, factories, and warehouses. Since a long transition period might be required to fully automate such facilities, we have to deploy AMRs while improving safety in the mixed environments of human and mobile robots. In addition, human behaviors in such environments might be difficult to predict. In this paper, we present a Digital Twin for Autonomous Mobile Robots system named DigiMobot to support, manage, monitor, and validate AMRs in indoor environments. First, DigiMobot can simulate human behaviors and robot movements to verify and validate AMRs to improve safety in a virtual world. Secondly, DigiMobot can monitor and manage AMRs in the physical world by collecting sensor data from each robot in real-time. Since DigiMobot enables us to test the robot systems in the virtual world, we can deploy and implement AMRs in each facility without any modifications. To show the feasibility of DigiMobot, we develop a software framework and two different types of autonomous mobile robots. Finally, we conduct real-world experiments in a warehouse located in Saitama, Japan, in which more than 400, 000 items are stored for commercial purposes.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    DigiMobot: Digital Twin for Human-Robot Collaboration in Indoor Environments


    Beteiligte:
    Fukushima, Yuto (Autor:in) / Asai, Yusuke (Autor:in) / Aoki, Shunsuke (Autor:in) / Yonezawa, Takuro (Autor:in) / Kawaguchi, Nobuo (Autor:in)


    Erscheinungsdatum :

    11.07.2021


    Format / Umfang :

    1447582 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    DIGIMOBOT: DIGITAL TWIN FOR HUMAN-ROBOT COLLABORATION IN INDOOR ENVIRONMENTS

    Fukushima, Yuto / Asai, Yusuke / Aoki, Shunsuke et al. | British Library Conference Proceedings | 2021


    Human Robot Collaboration in Industrial Environments

    Michalos, George / Karagiannis, Panagiotis / Dimitropoulos, Nikos et al. | Springer Verlag | 2021


    HUMAN-ROBOT COLLABORATION

    FELIP LEON JAVIER / AHUJA NILESH / CAMPOS MACIAS LEOBARDO et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Working together: a review on safe human-robot collaboration in industrial environments

    Robla Gómez, María Sandra / Becerra, Víctor M. / Llata García, José Ramón et al. | BASE | 2017

    Freier Zugriff

    Collaboration, Dialogue, Human-Robot Interaction

    Fong, Terrence / Thorpe, Charles / Baur, Charles | Springer Verlag | 2003