Teaching a robot where objects are: Specification of object location using human following and human orientation estimation

Sakai, Keisuke; Hiroi, Yutaka; Ito, Akinori

doi:10.1109/wac.2014.6936012

Cited by 3 publications

(8 citation statements)

References 6 publications

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“…Our method uses a human detection and tracking method [15] to locate the pedestrians which are to be avoided. Objects other than the detected pedestrian (including both humans and nonhuman objects) are avoided using local information.…”

Section: Robot Navigation Considering the Social Distancementioning

confidence: 99%

“…To realize a robot that achieves the three requirements (A), (B), and (C), described in Section 1, we combined (A) a human detection and tracking method [15] for detecting the pedestrian to avoid from a distance; (B) an obstacle-avoidance method based on local information [23]; and (C) waypoint-following using the same algorithm as the human-following method [15].…”

Section: Robot Navigation Considering the Social Distancementioning

confidence: 99%

“…We consider a situation where the user teaches the robot the path to follow beforehand, after which the robot moves along the learned path [14][15][16][17]. The robot is designed to move around an indoor environment, such as rooms and corridors, as a service robot, in order to fulfill several navigation tasks, such as those presented in RoboCup@Home [18,19].…”

Section: Introductionmentioning

confidence: 99%

“…Figure 2 depicts the scenario under consideration. As shown in Figure 2a, the robot follows the supervisor and remembers the POIs [15]. In this process, the robot remembers the path and the POIs as points on the remembered path (the waypoints).…”

Section: Introductionmentioning

confidence: 99%

“…The robot samples waypoints on the trajectory while following the supervisor. In the experiment, the interwaypoint length was 740 mm, considering the footstep length of a human [15]. After remembering the paths, the robot autonomously guides a person by moving along a memorized path to visit a specified place.…”

Section: Introductionmentioning

confidence: 99%

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A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Hiroi

Ito

2019

Robotics

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Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely.

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Section: Robot Navigation Considering the Social Distancementioning

confidence: 99%

Section: Robot Navigation Considering the Social Distancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Hiroi

Ito

2019

Robotics

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Path Following Algorithm with Small Error for Guide Robot

Wakabayashi

Hiroi

Miyawaki

et al. 2023

Lecture Notes in Networks and Systems

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Development of a Mobile Robot That Plays Tag with Touch-and-Away Behavior Using a Laser Range Finder

et al. 2021

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The development of robots that play with humans is a challenging topic for robotics. We are developing a robot that plays tag with human players. To realize such a robot, it needs to observe the players and obstacles around it, chase a target player, and touch the player without collision. To achieve this task, we propose two methods. The first one is the player tracking method, by which the robot moves towards a virtual circle surrounding the target player. We used a laser range finder (LRF) as a sensor for player tracking. The second one is a motion control method after approaching the player. Here, the robot moves away from the player by moving towards the opposite side to the player. We conducted a simulation experiment and an experiment using a real robot. Both experiments proved that with the proposed tracking method, the robot properly chased the player and moved away from the player without collision. The contribution of this paper is the development of a robot control method to approach a human and then move away safely.

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Teaching a robot where objects are: Specification of object location using human following and human orientation estimation

Cited by 3 publications

References 6 publications

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Path Following Algorithm with Small Error for Guide Robot

Development of a Mobile Robot That Plays Tag with Touch-and-Away Behavior Using a Laser Range Finder

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