Restock and straightening system for retail automation using compliant and mobile manipulation

G. A. Garcia Ricardez*, S. Okada, N. Koganti, A. Yasuda, P. M. Uriguen Eljuri, T. Sano, P. C. Yang, L. El Hafi, M. Yamamoto, J. Takamatsu, T. Ogasawara

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


As the retail industry keeps expanding and shortage of workers increasing, there is a need for autonomous manipulation of products to support retail operations. The increasing amount of products and customers in establishments such as convenience stores requires the automation of restocking, disposing and straightening of products. The manipulation of products needs to be time-efficient, avoid damaging products and beautify the display of products. In this paper, we propose a robotic system to restock shelves, dispose expired products, and straighten products in retail environments. The proposed mobile manipulator features a custom-made end effector with compact and compliant design to safely and effectively manipulate products in retail stores. Through experiments in a convenience store scenario, we verify the effectiveness of our system to restock, dispose and rearrange items.

Original languageEnglish
Pages (from-to)235-249
Number of pages15
JournalAdvanced Robotics
Issue number3-4
Publication statusPublished - 2020 Feb 16
Externally publishedYes


  • Future Convenience Store Challenge
  • Retail automation
  • World Robot Summit
  • compliant manipulation
  • mobile manipulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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