Development of service robot for fetching objects in home environment
Development of service robot for fetching objects in home environment
复制标题
家庭环境中取物服务机器人的开发
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
K. Kosuge
中科院分区：
文献类型：
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作者：
Tapio Taipalus;K. Kosuge
针对全球老龄化问题，东北大学生物工程与机器人学系开发了移动机械手类型的家庭服务机器人Mary(Mobile Assistant Robot For You)。研究了老年人在居家环境中生活中遇到的常见问题。研究发现，流动性降低是从家里搬到护理机构的首要原因之一。在家中走动的一个原因是需要携带物品。考虑到这一点，在家庭环境中从桌面或货架上取出物体是移动机械手类型家庭机器人的关键功能之一。在这项工作中，玛丽机器人的功能得到了增强。取物任务是使用多模式用户界面(Ul)实现的，该界面带有专为老年人设计的触摸和语音输入。基于车载摄像机图像处理的智能自适应操纵策略简化了系统的使用。通过对各子系统的测试来评估系统的功能。
Regarding to global problem of ageing, mobile manipulator type of home service robot MARY (mobile assistant robot for you) has been developed in the Department of Bioengineering and Robotics, Tohoku University. The usual problems that elderly people encounter in their lives in home environment are studied. Decreased mobility is found to be among the first reasons for moving to care institutions from home. One reason for moving around at home is need to carry objects. Considering this, fetching of objects from table-tops or shelves in home environment is one of the key functionalities for a mobile manipulator type of home robot. In this work functionality of the MARY robot is enhanced. The fetching task is implemented using multimodal user interface (Ul) with touch and voice inputs designed for elderly people. Intelligent adaptive manipulation strategy simplifies the usage of the system, based on image processing of images from on-board cameras. System functionality is evaluated with tests of the subsystems.