An Intelligent Robotic Aid System for Human Services

Kawamura, K.; Bagchi, Sugato; Iskarous, M.; Pack, R.T.; Saad, Ashraf

doi:10.2514/6.1994-1232

Cited by 21 publications

(9 citation statements)

References 3 publications

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“…These robots range from desktop manipulators to autonomous walking agents. Examples include: workstation-based robots such as HANDY1 [13], stand alone manipulator systems such as ISAC [14,15], and wheelchairbased systems such as MANUS [16,17]. The mobile robot field is the area that has expanded the most in service and assistive robotics.…”

Section: Why Service Robots?mentioning

confidence: 99%

The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot

Behan

O’Keeffe

2007

Intel Serv Robotics

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This paper describes an autonomous mobile device that was designed, developed and implemented as a library assistant robot. A complete autonomous system incorporating human-robot interaction has been developed and implemented within a real world environment. The robotic development is comprehensively described in terms of its localization systems, which incorporates simple image processing techniques fused with odometry and sonar data, which is validated through the use of an extended Kalman filter (EKF). The essential principles required for the development of a successful assistive robot are described and put into demonstration through a human-robot interaction application applied to the library assistant robot.

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Section: Why Service Robots?mentioning

confidence: 99%

The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot

Behan

O’Keeffe

2007

Intel Serv Robotics

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“…Methods for interpreting predetermined quantitative values for uncertain information based on the current state of the robot have been developed [12]- [14]. The method proposed in [15] assumed that the fuzzy implication in a command depends on the immediate previous movement of the robot.…”

Section: Introductionmentioning

confidence: 99%

Enhancing human-robot interaction by interpreting uncertain information in navigational commands based on experience and environment

Muthugala

Jayasekara

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Assistive robots can support activities of elderly people to uplift the living standard. The assistive robots should possess the ability to interact with the human peers in a human friendly manner because those systems are intended to be used by non-experts. Humans prefer to use voice instructions that include uncertain information and lexical symbols. Hence, the ability to understand uncertain information is mandatory for developing natural interaction capabilities in robots. This paper proposes a method to understand uncertain information such as "close", "near" and "far" in navigational user commands based on the current environment and the experience of the robot. A robot experience model (REM) has been introduced to understand the lexical representations in user commands and to adapt the perception of the robot on uncertain information in heterogeneous domestic environments. The user commands are not bounded by a strict grammar model and this enables the users to operate the robot in a more natural way. The proposed method has been implemented on the assistive robot platform. The experiments have been carried out in an artificially created domestic environment and the results have been analyzed to identify the behaviors of the proposed concept.Index Terms-understanding uncertain information, humanrobot interactions, human friendly robot, assistive robots, experience of robots

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“…The second type is stand-alone manipulator system, in which the object position is not known. This allows greater flexibility but requires sensors for environmental perception; pertinent examples consist of the Tou system [6] and ISAC [7]. The third type is the wheelchair-based robot, with the most well-known system being MANUS [8].…”

Section: Introductionmentioning

confidence: 99%

Localization and control of a rehabilitation mobile robot by close human-machine cooperation

Hoppenot

Colle

2001

IEEE Trans. Neural Syst. Rehabil. Eng.

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In the field of rehabilitation robotics, a mobile personal robot represents an attractive solution, especially in economic terms in comparison with a desktop workstation. A manipulator arm mounted on a mobile robot can facilitate the restoration of the disabled user's manipulative function. In order both to encourage the person to participate in the task at hand and to be cost effective, close human-machine cooperation is essential. The person controls the robot via a remote station and develops strategies to successfully carry out a mission. The main problems encountered by the person during the execution of a mission are electing to change modes, and the mode transition itself. We have examined two aspects of this cooperation: 1) information exchange between human and machine for decision-making and 2) giving to operators complementary and redundant modes to command the system. An experiment has been conducted to study these two aspects. This paper focuses on the control of robot movements in an indoor environment and especially on localization parameters, human-like robot behavior, and the value of proposing complementary control modes to the operator.

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An Intelligent Robotic Aid System for Human Services

Cited by 21 publications

References 3 publications

The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot

The development of an autonomous service robot. Implementation: “Lucas”—The library assistant robot

Enhancing human-robot interaction by interpreting uncertain information in navigational commands based on experience and environment

Localization and control of a rehabilitation mobile robot by close human-machine cooperation

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