Personal robot assisting transportation to support active human life &amp;#x2014; Reference generation based on model predictive control for robust quick turning

Hirose, Noriaki; Tajima, Ryosuke; Sukigara, Kazutoshi; Tanaka, Minoru

doi:10.1109/icra.2014.6907166

Cited by 15 publications

(11 citation statements)

References 10 publications

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“…This robot also has a laser range finder to realize autonomous locomotion, obstacle avoidance and pedestrian tracking in the prior research work. [3] However, it is difficult for the conventional method using a laser range finder to distinguish the user from other objects and people. In this paper, we disable the laser range finder and only use the omnidirectional camera as an external sensor to verify the proposed method for tracking.…”

Section: Human Followingmentioning

confidence: 99%

“…Moreover, the posture actuator enables the robot to travel on uneven surfaces without losing stability, as shown in Figure 11(b). [2,3] This robot has an inertial measurement unit (IMU) as an internal sensor and an omnidirectional camera attached at a height of 0.765 m as an external sensor. This robot also has a laser range finder to realize autonomous locomotion, obstacle avoidance and pedestrian tracking in the prior research work.…”

Section: Human Followingmentioning

confidence: 99%

“…[2,3] This robot is expected to encourage people to walk outside by carrying their baggage, navigating them to their destination, and showing useful information about the location.…”

Section: Introductionmentioning

confidence: 99%

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IR tag detection and tracking with omnidirectional camera using track-before-detect particle filter

et al. 2016

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Robust user detection and tracking is one of the key issues for a personal robot to follow the target person. In this paper, a novel tracking system using an omnidirectional camera and IR LED tags is proposed. The users wear the tags on their ankles, and the tags emit a light pattern as its ID. The camera on the robot is used to detect and track their positions individually. A novel approach based on a track-before-detect particle filter is proposed. It detects and tracks the tags simultaneously, even if the tags are not synchronized with the camera sampling or are not fully observable. The effectiveness of the proposed system is evaluated by experiments using a prototype personal robot. ARTICLE HISTORY

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Section: Human Followingmentioning

confidence: 99%

Section: Human Followingmentioning

confidence: 99%

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IR tag detection and tracking with omnidirectional camera using track-before-detect particle filter

et al. 2016

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“…Widespread attention has been paid on the humanoid robot as one of the most active research direction of the robot research areas. The study focused on the fields of a complex environment to complete some human tasks, just to name a few, such as human assistance, home care and transportation [1]. So it is necessary to study the robot to walk from one point to another independently, which is an essential component for basic action of robots.…”

Section: Introductionmentioning

confidence: 99%

Camera Recognition and Laser Detection based on EKF-SLAM in the Autonomous Navigation of Humanoid Robot

Wen

Miao

et al. 2017

J Intell Robot Syst

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The ability of autonomous navigation of the humanoid robot under unknown environment is very important to real-life applications. EKF-SLAM based on the camera recognition and laser detection for humanoid robot NAO is presented in this paper. Camera recognition is used to recognize if the object is a landmark. Because the computational resources needed for the feature-based position estimation are quite expensive, the laser instead of the camera provides the position of the landmark. A fractional

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“…The authors also conducted research in which they considered contact between the target and the manipulator and proposed a master/slave tracking method in which a Kalman filter was used (8) . Researchers have been working on human tracking and collision force mitigation using model predictions for autonomous traveling robots that move around living areas of humans (9)- (11) . This paper considers a teleoperation picking task (Fig.…”

Section: Introductionmentioning

confidence: 99%

Contact Prediction Control for a Teleoperation System with Time Delay

Norizuki

Uchimura

2018

IEEJ Journal IA

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Senior MemberIn a teleoperation system with communication delay, the contact information on the slave side is transmitted to the master side with time delay. Hence, an operator may misunderstand that the slave has not contacted an object and may add more force. Eventually, excessive force by the slave may collapse the object. This paper proposes model predictive control with a variable dumping method to prevent collision on contact in a teleoperation system with time delay. The prediction method considers the distance to the object on slave side, and variable dumping is implemented on the master side. The proposed method is evaluated through numerical simulations and experiments.

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Personal robot assisting transportation to support active human life — Reference generation based on model predictive control for robust quick turning

Cited by 15 publications

References 10 publications

IR tag detection and tracking with omnidirectional camera using track-before-detect particle filter

IR tag detection and tracking with omnidirectional camera using track-before-detect particle filter

Camera Recognition and Laser Detection based on EKF-SLAM in the Autonomous Navigation of Humanoid Robot

Contact Prediction Control for a Teleoperation System with Time Delay

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