{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T18:10:35Z","timestamp":1774721435930,"version":"3.50.1"},"reference-count":32,"publisher":"Informa UK Limited","issue":"17-18","funder":[{"DOI":"10.13039\/501100002241","name":"Japan Science and Technology Agency","doi-asserted-by":"publisher","award":["JPMJMS2011"],"award-info":[{"award-number":["JPMJMS2011"]}],"id":[{"id":"10.13039\/501100002241","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Moonshot Research & Development Program"}],"content-domain":{"domain":["www.tandfonline.com"],"crossmark-restriction":true},"short-container-title":["Advanced Robotics"],"published-print":{"date-parts":[[2022,9,17]]},"DOI":"10.1080\/01691864.2022.2109430","type":"journal-article","created":{"date-parts":[[2022,8,30]],"date-time":"2022-08-30T19:25:03Z","timestamp":1661887503000},"page":"967-981","update-policy":"https:\/\/doi.org\/10.1080\/tandf_crossmark_01","source":"Crossref","is-referenced-by-count":9,"title":["Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms"],"prefix":"10.1080","volume":"36","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8362-4817","authenticated-orcid":false,"given":"Tatsuhiro","family":"Wakayama","sequence":"first","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7839-6285","authenticated-orcid":false,"given":"Eri","family":"Fujiura","sequence":"additional","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1791-9518","authenticated-orcid":false,"given":"Mari","family":"Yamaguchi","sequence":"additional","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Naoki","family":"Yoshida","sequence":"additional","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tomoaki","family":"Inoue","sequence":"additional","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6617-9280","authenticated-orcid":false,"given":"Hiroki","family":"Ikeuchi","sequence":"additional","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6907-4786","authenticated-orcid":false,"given":"Masaki","family":"Yamamoto","sequence":"additional","affiliation":[{"name":"Panasonic Corporation","place":["Osaka, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9795-6153","authenticated-orcid":false,"given":"Lotfi","family":"El Hafi","sequence":"additional","affiliation":[{"name":"Ritsumeikan University","place":["Kusatsu, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6518-577X","authenticated-orcid":false,"given":"Gustavo A.","family":"Garcia Ricardez","sequence":"additional","affiliation":[{"name":"Ritsumeikan University","place":["Kusatsu, Japan"]},{"name":"Nara Institute of Science and Technology","place":["Ikoma, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7457-2878","authenticated-orcid":false,"given":"Jun","family":"Takamatsu","sequence":"additional","affiliation":[{"name":"Nara Institute of Science and Technology","place":["Ikoma, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5682-2076","authenticated-orcid":false,"given":"Tadahiro","family":"Taniguchi","sequence":"additional","affiliation":[{"name":"Ritsumeikan University","place":["Kusatsu, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9767-6039","authenticated-orcid":false,"given":"Tsukasa","family":"Ogasawara","sequence":"additional","affiliation":[{"name":"Nara Institute of Science and Technology","place":["Ikoma, Japan"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"301","published-online":{"date-parts":[[2022,8,30]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s41095-019-0149-9"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2016.05.021"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1663608"},{"key":"e_1_3_3_5_1","doi-asserted-by":"crossref","unstructured":"Wada K. New robot technology challenge for convenience store. In: Proceedings of 2017 IEEE\/SICE International Symposium on System Integration (SII 2017). Taipei Taiwan: 2017 Dec; p. 1086\u20131091.","DOI":"10.1109\/SII.2017.8279367"},{"issue":"6","key":"e_1_3_3_6_1","first-page":"422","article-title":"Team NAIST-RITS-Panasonic at the Future Convenience Store Challenge: our approach from 2018 to 2021","volume":"61","author":"Garcia Ricardez GA","year":"2022","unstructured":"Garcia Ricardez GA, El Hafi L, Ikeuchi H, et al. Team NAIST-RITS-Panasonic at the Future Convenience Store Challenge: our approach from 2018 to 2021. J Soc Instrum Control Eng. 2022 Jun;61(6):422\u2013425.","journal-title":"J Soc Instrum Control Eng"},{"key":"e_1_3_3_7_1","doi-asserted-by":"crossref","unstructured":"Shinoki N Wada K Hori A et\u00a0al. Evaluation of repeated cleaning ability of a restroom cleaning system for scattered urine. In: Proceedings 2020 IEEE\/SICE International Symposium on System Integration (SII 2020). Honolulu United States: 2020 Jan; p. 976\u2013979.","DOI":"10.1109\/SII46433.2020.9026220"},{"key":"e_1_3_3_8_1","doi-asserted-by":"crossref","unstructured":"Lee J Choi Y Lee J. Calculation of optimal magnetic force for automatic control magnetic force of the window cleaning robot. In: Proceedings of 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2013). Honolulu United States: 2013 Oct; p. 663\u2013666.","DOI":"10.1109\/URAI.2013.6677419"},{"key":"e_1_3_3_9_1","doi-asserted-by":"crossref","unstructured":"Wu G Zhang L Zhang H et\u00a0al. Research on design of glass wall cleaning robot. In: Proceedings of 5th International Conference on Information Science and Control Engineering (ICISCE 2018). Zhengzhou China: 2018 Jul; p. 932\u2013935.","DOI":"10.1109\/ICISCE.2018.00194"},{"issue":"4","key":"e_1_3_3_10_1","first-page":"65","article-title":"Autonomous lavatory cleaning system","volume":"6","author":"Arun Kumar C","year":"2015","unstructured":"Arun Kumar C, Adithya Bharadwaj A, Balasubramanian R, et\u00a0al. Autonomous lavatory cleaning system. Int J Intell Syst Appl Robot. 2015 Dec;6(4):65\u201371.","journal-title":"Int J Intell Syst Appl Robot"},{"key":"e_1_3_3_11_1","doi-asserted-by":"crossref","unstructured":"Werle J Hauer K. Design of a bath robot system: user definition and user requirements based on international classification of functioning disability and health (ICF). In: Proceedings of 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2016). New York United States: 2016 Aug; p. 459\u2013466.","DOI":"10.1109\/ROMAN.2016.7745159"},{"key":"e_1_3_3_12_1","doi-asserted-by":"crossref","unstructured":"Panek P Fazekas G L\u00fcftenegger T et\u00a0al. On the prototyping of an ICT-enhanced toilet system for assisting older persons living independently and safely at home. In: Health Informatics Meets eHealth. IOS Press; 2017; p. 176\u2013183 (Studies in Health Technology and Informatics; vol. 236).","DOI":"10.3233\/978-1-61499-759-7-176"},{"key":"e_1_3_3_13_1","doi-asserted-by":"crossref","unstructured":"Kim S. Autonomous cleaning robot: Roboking system integration and overview. In: Proceedings of 2004 IEEE International Conference on Robotics and Automation (ICRA 2004). Vol. 5. New Orleans United States: 2004 Apr; p. 4437\u20134441.","DOI":"10.1109\/ROBOT.2004.1302416"},{"key":"e_1_3_3_14_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1698461"},{"key":"e_1_3_3_15_1","doi-asserted-by":"crossref","unstructured":"Yang PC Koganti N Garcia Ricardez GA et\u00a0al. Context dependent trajectory generation using sequence-to-sequence models for robotic toilet cleaning. In: Proceedings of 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020). Naples Italy (Virtual): 2020 Aug; p. 932\u2013937.","DOI":"10.1109\/RO-MAN47096.2020.9223341"},{"key":"e_1_3_3_16_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF01427149"},{"key":"e_1_3_3_17_1","doi-asserted-by":"crossref","unstructured":"Reyes E G\u00f3mez C Norambuena E et\u00a0al. Near real-time object recognition for pepper based on deep neural networks running on a backpack. In: RoboCup 2018: Robot World Cup XXII. Springer; 2019 Aug; p. 287\u2013298.","DOI":"10.1007\/978-3-030-27544-0_24"},{"key":"e_1_3_3_18_1","doi-asserted-by":"crossref","unstructured":"Simon M Milz S Amende K et\u00a0al. Complex-YOLO: an Euler-region-proposal for real-time 3D object detection on point clouds. In: Leal-Taix\u00e9 L Roth S editors. Workshops of 15th European Conference on Computer Vision (ECCV 2018). Vol. 1. Munich Germany: 2018 Sep; p. 197\u2013209.","DOI":"10.1007\/978-3-030-11009-3_11"},{"key":"e_1_3_3_19_1","doi-asserted-by":"crossref","unstructured":"Wang C Xu D Zhu Y et\u00a0al. DenseFusion: 6D object pose estimation by iterative dense fusion. In: Proceedings of 2019 IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2019). Long Beach United States: 2019 Jun; p. 3338\u20133347.","DOI":"10.1109\/CVPR.2019.00346"},{"key":"e_1_3_3_20_1","unstructured":"Garcia Ricardez GA von Drigalski F El Hafi L et\u00a0al. Warehouse picking automation system with learning- and feature-based object recognition and grasping point estimation. In: Proceedings of 2017 SICE System Integration Division Annual Conference (SI 2017). Sendai Japan: 2017 Dec; p. 2249\u20132253."},{"key":"e_1_3_3_21_1","unstructured":"Garcia Ricardez GA von Drigalski F El Hafi L et al. Lessons from the Airbus Shopfloor Challenge 2016 and the Amazon Robotics Challenge 2017. In: Proceedings of 2017 SICE System Integration Division Annual Conference (SI 2017). Sendai Japan; 2017 Dec; p. 572\u2013575."},{"key":"e_1_3_3_22_1","doi-asserted-by":"crossref","unstructured":"Garcia Ricardez GA El Hafi L von Drigalski F. Standing on giant's shoulders: newcomer's experience from the Amazon Robotics Challenge 2017. In: Advances on Robotic Item Picking: Applications in Warehousing & E-Commerce Fulfillment. Springer; 2020 May; p. 87\u2013100.","DOI":"10.1007\/978-3-030-35679-8_8"},{"key":"e_1_3_3_23_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1698460"},{"key":"e_1_3_3_24_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1694068"},{"key":"e_1_3_3_25_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2019.1698463"},{"key":"e_1_3_3_26_1","doi-asserted-by":"crossref","unstructured":"Wakayama T Garcia Ricardez GA El Hafi L et\u00a0al. 6D-pose estimation for manipulation in retail robotics using the inference-embedded OAK-D camera. In: Proceedings of 2022 IEEE\/SICE International Symposium on System Integration (SII 2022). Narvik Norway (Virtual): 2022 Jan; p. 1046\u20131051.","DOI":"10.1109\/SII52469.2022.9708910"},{"key":"e_1_3_3_27_1","unstructured":"Quigley M Gerkey B Conley K et\u00a0al. ROS: an open-source robot operating system. In: Proceedings of 2009 IEEE Workshop on Open Source Software. Kobe Japan: 2009 May."},{"key":"e_1_3_3_28_1","unstructured":"El Hafi L Hagiwara Y Taniguchi T. Abstraction-rich workflow for agile collaborative development and deployment of robotic solutions. In: Proceedings of 2018 Annual Conference of the Robotics Society of Japan (RSJ 2018). Vol. RSJ2018AC3D3-02. Kasugai Japan: 2018 Sep; p. 1\u20133."},{"key":"e_1_3_3_29_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2022.2068353"},{"key":"e_1_3_3_30_1","unstructured":"Redmon J Farhadi A. YOLOv3: an incremental improvement. arXiv Computer Vision and Pattern Recognition (csCV). arXiv:1804.02767. 2018 Apr;1\u20136."},{"key":"e_1_3_3_31_1","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2021.1928552"},{"key":"e_1_3_3_32_1","unstructured":"Taniguchi T El Hafi L Hagiwara Y et\u00a0al. The necessity of semiotically adaptive cognition for realizing remotely-operated service robots in the new normal society. In: Proceedings of 2021 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2021). Tokoname Japan (Virtual): 2021 Jul; p. 266\u2013267."},{"key":"e_1_3_3_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmsy.2022.04.007"}],"container-title":["Advanced Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.tandfonline.com\/doi\/pdf\/10.1080\/01691864.2022.2109430","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T00:41:44Z","timestamp":1772757704000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.tandfonline.com\/doi\/full\/10.1080\/01691864.2022.2109430"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8,30]]},"references-count":32,"journal-issue":{"issue":"17-18","published-print":{"date-parts":[[2022,9,17]]}},"alternative-id":["10.1080\/01691864.2022.2109430"],"URL":"https:\/\/doi.org\/10.1080\/01691864.2022.2109430","relation":{},"ISSN":["0169-1864","1568-5535"],"issn-type":[{"value":"0169-1864","type":"print"},{"value":"1568-5535","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,8,30]]},"assertion":[{"value":"The publishing and review policy for this title is described in its Aims & Scope.","order":1,"name":"peerreview_statement","label":"Peer Review Statement"},{"value":"http:\/\/www.tandfonline.com\/action\/journalInformation?show=aimsScope&journalCode=tadr20","URL":"http:\/\/www.tandfonline.com\/action\/journalInformation?show=aimsScope&journalCode=tadr20","order":2,"name":"aims_and_scope_url","label":"Aim & Scope"},{"value":"2022-03-20","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-06-09","order":1,"name":"revised","label":"Revised","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-07-07","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-08-30","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}