-Bartender and Waiter Robot-

Introduction


We have studied and developed technologies of automation and high functionalization for manufacturing industry, especially liquid handling process. And, 2-wheels vehicle has been also studied to assist people in everyday life, which provides comfortable ride.
Then, by applying these control approaches, we focus on "Service Robot works at Restaurant" and develop 2 types of robot which have functions for working at there. Major features of these robots are handling and transferring beverage in a glass. These robots realize a quick and accurate handling and transferring motions than can be use as a delivery service with high-performing actuator.

WAITER-Robot with advantages of 2-wheels drive


Comparison with 4-wheels robot

■A glass transferring with attitude control and sloshing suppression

WAITER has high turning performance by 2-wheel drive, and it can transfer beverage in a glass quickly in its maximum speed 2.0 [m/s]. Since it has attitude control function, the robot keeps the glass horizontally and stable while it is moving toward the point.

Transferring mechanism
by active mass damper

■Attitude control function

Posture of WAITER is kept in a horizontal position by estimation of inclination angle and active mass counter control. Control input of active mass counter is determined by several factors such as driving power by friction with ground, friction of power transmission system, inertia of vehicle mass and torques by inertia and mass distribution of beverage in a glass.

Simulation result of liquid in a glass by CFD

BARTENDER-Robot with liquid manipulation

■Pouring control function

BARTENDER controls tilt velocity of liquid container and its position to achieve target flow rate and falling position when beverage is poured from a container to a glass. The position of pouring and posture of the robot arm are designed to realize efficient motion and collision avoidance with glass and obstacles.

■Foam control while pouring beer

While pouring foaming beverage, such as beer, we can control flow rate, but beer sometimes overflows from glass by foam generation. Amount and feature of foam varies depending on temperature and surface roughness of glass. Of course they are also associated with how to pour beer. BARTENDER realizes foam control by proper flow rate control and position control for pouring height.

Research Theme

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