Service robot system with an informationally structured environment

Pyo, Yoonseok; Nakashima, Kouhei; Kuwahata, Shunya; Kurazume, Ryo; Tsuji, Tokuo; Morooka, Ken’ichi; Hasegawa, Tsutomu

doi:10.1016/j.robot.2015.07.010

Cited by 57 publications

(20 citation statements)

References 39 publications

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“…Service robots equipped with external sensors lack sensing coverage as well as sensing capability [25]. Attaching more sensors or high performance sensors on a robot does not alleviate the problem since it increases the amount of computation and the payload of the robot [26]. In addition, IoT systems whose components are installed on a fixed position have limited mobility and manipulation capability.…”

Section: B Integration Systemsmentioning

confidence: 99%

A Stabilized Feedback Episodic Memory (SF-EM) and Home Service Provision Framework for Robot and IoT Collaboration

Kim

2020

IEEE Trans. Cybern.

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The automated home referred to as Smart Home is expected to offer fully customized services to its residents, reducing the amount of home labor, thus improving human beings' welfare. Service robots and Internet of Things (IoT) play the key roles in the development of Smart Home. The service provision with these two main components in a Smart Home environment requires: 1) learning and reasoning algorithms and 2) the integration of robot and IoT systems. Conventional computational intelligence-based learning and reasoning algorithms do not successfully manage dynamic changes in the Smart Home data, and the simple integrations fail to fully draw the synergies from the collaboration of the two systems. To tackle these limitations, we propose: 1) a stabilized memory network with a feedback mechanism which can learn user behaviors in an incremental manner and 2) a robot-IoT service provision framework for a Smart Home which utilizes the proposed memory architecture as a learning and reasoning module and exploits synergies between the robot and IoT systems. We conduct a set of comprehensive experiments under various conditions to verify the performance of the proposed memory architecture and the service provision framework and analyze the experiment results.Index Terms-Ambient intelligence, Internet of Things (IoT), learning systems, memory architecture, service robots, Smart Home.

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Section: B Integration Systemsmentioning

confidence: 99%

A Stabilized Feedback Episodic Memory (SF-EM) and Home Service Provision Framework for Robot and IoT Collaboration

Kim

2020

IEEE Trans. Cybern.

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“…The transformation of buildings into smart homes (Intille et al 2006;Hsu 2012), assistive environments for senior citizens (Wichert and Mand 2017), or robotic environments (Sugano and Shirai 2006;Williams and Nayak 1996;Kurazume et al 2017;Pyo et al 2015) are currently in the focus of the research and development of both academia and industry. However, many attempts have been made to embed distributed sensory and motivation functions into the built environment to support the monitoring and care for healthier and more independent elderly people's living (Intille 2002;Intille 2004;Pyo et al 2014;Sakamura 1996;Sato et al 2004).…”

Section: Related Work and Research Aimmentioning

confidence: 99%

Developing a Smart Home Solution Based on Personalized Intelligent Interior Units to Promote Activity and Customized Healthcare for Aging Society

Linner

Trummer

et al. 2020

Population Ageing

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The world's population is aging at an unprecedented pace. Aging society is not only a severe crisis in the developed world, but also a rigorous challenge in emerging economies. Many age-related diseases are fostered by the lack of physical, cognitive, and social activities. Increasing the activity level has many benefits for the elderly and can improve their independence. Based on the analysis of the state-of-the-art and shortcomings of the current smart home solutions, the EU-funded research project REACH aims to develop a service system that will turn clinical and care environments into personalized modular sensing, prevention, and intervention systems that encourage the elderly to become healthy through various activities. To achieve that goal, the research team developed a series of smart furniture (PI 2 Us) that materialize the research concepts and functionality seamlessly into the various environments. Specifically, the development process and the functionality testing results of the PI 2 Us are reported in detail. In addition, a simulated smart home solution concept (TRACK) integrating key assistive technologies developed is proposed to create a comprehensive interior living and care environment for elderly users. Due to its modularity and flexibility, the partial or entire solution can be easily adapted and rapidly deployed in different use case settings in Europe, which allows the project consortium to execute different testing activities. In the next phase, the research team will focus on enhancing the usability and performance of the prototypes in order to eventually push them to the market. In conclusion, this research provides an innovative smart home solution for the industry to mitigate the impact of aging society.

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“…However, focus in both [5], [6] are on integrated manipulation tasks stationed in fixed space rather than navigating distances to fetch objects. Pyo et al [7] use a two armed wheeled humanoid for application of service robot to assist elderly by fetching requested beverage in a real world environment setup with similar dimension to ours. Their service robot, however, utilized external environmental sensors ,resulting in an informationally structured environment, and focused on more robust collision-free planners at All previous works discussed here have in common that they lack fast execution times.…”

Section: Related Workmentioning

confidence: 99%

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

Lee

Heo

Park

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are sub-optimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at runtime. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a real-world environment setup as well as in public exhibition.

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Service robot system with an informationally structured environment

Cited by 57 publications

References 39 publications

A Stabilized Feedback Episodic Memory (SF-EM) and Home Service Provision Framework for Robot and IoT Collaboration

A Stabilized Feedback Episodic Memory (SF-EM) and Home Service Provision Framework for Robot and IoT Collaboration

Developing a Smart Home Solution Based on Personalized Intelligent Interior Units to Promote Activity and Customized Healthcare for Aging Society

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

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