Risk-Aware Motion Control for Care Robots
Risk-Aware Motion Control for Care Robots
复制标题
护理机器人的风险感知运动控制
DOI：
10.1109/iai50351.2020.9262206
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Peng Shi
中科院分区：
文献类型：
--
作者：
Guang Yang;Shuoyu Wang;Junyou Yang;Peng Shi
提出了一种风险感知运动控制系统，使护理机器人能够通过改变与环境风险有关的行为模式来进行类似人类的行为。首先，介绍了一种通过测量以机器人为中心的空间的狭窄程度来评估可能发生碰撞的环境风险的方法。然后提出了一种通过运动控制器中速度和加速度的限制来定义和实现机器人行为模式的方法。最后，介绍了一种集成风险评估模块和行为调整模块的系统，该系统允许在传统的室内导航上实现类似人类的行为。我们的护理机器人 KUT-PCR 在真实的家庭环境中进行了实验，验证了所提出方法的有效性。
A risk-aware motion control system is presented so that care robots can conduct human-like behaviors by changing the behavior patterns concerning environmental risk. First, a method of evaluating the environmental risk of possible collision is introduced, by measuring the narrowness of the robot-centered space. Then a way of defining and achieving robot behavior patterns through the limitation of velocity and acceleration in the motion controller is presented. Finally, a system integrating the risk evaluation module and behavior adjust module is introduced which allows human-like behaviors upon traditional indoor navigation. Experiments were conducted in a real household environment with our care robot, KUT-PCR, in which the effectiveness of the proposed approach was verified.