Autonomous Mobile Robot Moving Through Static Crowd: Arm with One-DoF and Hand with Involute Shape to Maneuver Human Position

Abstract

Owing to manpower shortages, robots are expected to be increasingly integrated into society in the future. Moreover, robots will be required to navigate through crowded environments. Thus, we proposed a new method of autonomous movement compatible with physical contact signaling used by humans. The method of contact was investigated before using an arm with six degrees of freedom (DoF), which increases the cost of the robot. In this paper, we propose a novel method of navigating through a human crowd by using a conventional driving system for autonomous mobile robots and an involute-shaped hand with an one-DoF arm. Finally, the effectiveness of the method was confirmed experimentally.

Augmented-reality based brain-computer interface of robot control

“…The two inputs to AR are brain control commands and feedback signals of action states. The AR evolutionary program evolves the input signals, makes decisions and transmits the final control commands to the robotic system according to the control principles of collaborative brain-computer control [ 13 , 14 ].…”