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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.

作为实现行为交流的方法，新提出了用于两个远距离的人的远程行走伙伴系统。两个人都有一个移动机器人陪伴，作为每个人远程呈现的补充。机器人相互传达邻近人类的测量位置，并模仿远处人类的运动。该系统可以提供两个人之间更接近的存在感。首先，构建了用于测量人的位置的传感器系统。根据激光测距仪获得的数据计算人的位置。考虑到传感器数据的误差，使用卡尔曼滤波器获得了更好的位置估计。接下来，研究了将测量的人体位置传输到远程机器人的通信方法以及实现远程人的行走行为的两种运动控制方法。在第一种运动控制方法中，机器人根据测量的人的运动矢量进行运动。在第二种方法中，机器人保持两地之间的相对位置关系。所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。两个机器人被放置在两个远处的人的身边。当两个人直线行走时，通过第一种运动控制方法远程行走成功。第二种运动控制方法建立了两个环境彼此不同的复杂情况（例如，一条路径是直线，另一条路径是曲线）。