A Walk Support System for Two Distant Persons using Mobile Robots

使用移动机器人为两个远距离人员提供步行支持系统

基本信息

批准号：
16500098
负责人：
OHYA Akihisa
金额：
$ 2.37万
依托单位：
University of Tsukuba
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16500098/
关键词：
Mobile Robot Network Robot Service Robot Human Robot Symbiosis Tele-communication Position Estimation Laser Ranee Finder 遠隔地間コミュニケーション

项目摘要

A remote walking partner system for two distant persons is newly proposed as a method for realizing communication of behaviors. A pair of persons is accompanied by a mobile robot as a complement of tele-presence of the each person. The robots communicate measured position of the adjacent human with each other and mimic the movement of the remote human. The system can provide a closer feeling of presence between two people.First, the sensor system for measuring the position of the person was constructed. The position of the person is calculated from the data obtained by the laser range finder. The better estimation of the position is obtained using the Kalman filter considering the error of the sensor data.Next, the communication method for transferring the measured human position to the remote robot and two motion control methods for realizing the walking behavior of the remote person were examined. In the first motion control method, the robot moves based on the measured motion vector of the human. In the second method, the robot keeps the relative position relationship between two places.The developed sensors were mounted on the mobile robots. The effectiveness of the system was verified through the experiments. Two robots were put on the side of two distant persons. The remote walk succeeded by the first motion control method when two persons walked straight. A complicated case where two environments was different from each other (e.g.one path is straight and the other is curve) was established by the second motion control method.

新提出的一个遥远的步行伙伴系统是一种实现行为交流的方法。一对人伴随着一个移动机器人，作为每个人的电视节目的补充。机器人彼此传达了相邻人类的测量位置，并模仿了遥远人的运动。该系统可以在两个人之间提供更紧密的存在感。首先，用于构建人的位置的传感器系统。人的位置是根据激光范围查找器获得的数据计算得出的。考虑到传感器数据的误差，使用卡尔曼过滤器获得了更好的估计。接头，将测量的人类位置传输到远程机器人的通信方法，并检查了两种运动控制方法，以实现远程人的步行行为。在第一个运动控制方法中，机器人根据人类的测量运动向量移动。在第二种方法中，机器人保持两个位置之间的相对位置关系。开发的传感器安装在移动机器人上。通过实验验证了系统的有效性。两个机器人放在两个遥远的人的一侧。当两个人直行时，遥控步行是通过第一个运动控制方法成功的。一个复杂的情况，通过第二运动控制方法建立了两个环境彼此不同的环境（例如，一个路径是笔直的，另一个是曲线）。