Human interaction with a service robot: mobile-manipulator handing over an object to a human

2002 ◽  
Author(s):  
A. Agah ◽  
K. Tanie
Keyword(s):  
Human Interaction ◽  
Service Robot ◽  
Mobile Manipulator

scholarly journals Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Huangsheng Xie ◽  
Guodong Li ◽  
Yuexin Wang ◽  
Zhihe Fu ◽  
Fengyu Zhou
Keyword(s):  
Kinematic Model ◽  
Active Vision ◽  
Calibration Method ◽  
Inverse Kinematic ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Visual Servo ◽  
Response Code ◽  
Quick Response Code ◽  
Manipulation System

This paper focuses on the problem of visual servo grasping of household objects for nonholonomic mobile manipulator. Firstly, a new kind of artificial object mark based on QR (Quick Response) Code is designed, which can be affixed to the surface of household objects. Secondly, after summarizing the vision-based autonomous mobile manipulation system as a generalized manipulator, the generalized manipulator’s kinematic model is established, the analytical inverse kinematic solutions of the generalized manipulator are acquired, and a novel active vision based camera calibration method is proposed to determine the hand-eye relationship. Finally, a visual servo switching control law is designed to control the service robot to finish object grasping operation. Experimental results show that QR Code-based artificial object mark can overcome the difficulties brought by household objects’ variety and operation complexity, and the proposed visual servo scheme makes it possible for service robot to grasp and deliver objects efficiently.

Balancing Control of a Mobile Manipulator with Two Wheels by an Acceleration-Based Disturbance Observer

2018 ◽  
Vol 15 (03) ◽  
pp. 1850005 ◽  
Author(s):  
Yeong-Geol Bae ◽  
Seul Jung
Keyword(s):  
Disturbance Observer ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Experimental Studies ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Control Performance ◽  
Six Degrees Of Freedom ◽  
Inertia Model ◽  
Balancing Control

This paper presents the balancing control performance of a mobile manipulator built in the laboratory as a service robot called Korean robot worker (KOBOKER). The robot is designed and implemented with two wheels as a mobile base and two arms with six degrees-of-freedom each. Kinematics and dynamics of the robot are analyzed. For the balancing control performance, two wheels are controlled independently by the time-delayed control method based on the inertia model of the robot. The acceleration information obtained directly from the sensor is used for the modified disturbance observer structure called an acceleration-based disturbance observer (AbDOB). Experimental studies of the balancing control of the robot are conducted to compare the control performances by both a PID control method and an AbDOB.

Towards multipurpose autonomous manipulation with the UJI service robot

Robotica ◽  
2007 ◽  
Vol 25 (2) ◽  
pp. 245-256 ◽  
Author(s):  
M. Prats ◽  
P. J. Sanz ◽  
A. P. del Pobil ◽  
E. Martínez ◽  
R. Marín
Keyword(s):  
Service Robot ◽  
Mobile Manipulator ◽  
Control Architecture ◽  
Perceptual State ◽  
Modular Control ◽  
Autonomous Manipulation ◽  
Daily Task ◽  
Great Step ◽  
The Way

SUMMARYThis paper presents a modular control architecture that enables a mobile manipulator to be compliant and perform manipulation tasks in partially known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented.Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined.We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books.

Service Robot Design for Uses in Human Centered Environments

2018 ◽  
Author(s):  
Kiwon Sohn ◽  
Ethan Morris ◽  
Obioma Ulebor ◽  
Thomas Currier ◽  
Shaun Merrill
Keyword(s):  
Power Management ◽  
Human Interaction ◽  
Service Robot ◽  
Environment Interaction ◽  
Cross Platform ◽  
Design Requirements ◽  
Power Management System ◽  
Control System Architecture ◽  
Service Task ◽  
Robot Platform

This paper presents the development of a service robot platform for various assistive tasks in human-centered environment. The main design objective is to enable the robot to safely navigate indoor areas and to provide cross-platform accessibility to human-users. To accomplish the goal, two technical design requirements which include the rough-terrain locomotive mechanism and the web-server based operating system are addressed and explored in this study. First, the overall control system architecture of the robot which consists of three different layers (human-interaction, environment-interaction and movement) is presented. Then, the mechanical and electronic specification of the robot’s dual drive system and the power management system are described with their design process. The robot’s software platform (which consists of the server, client and real time controller) is also provided for the selected service task. Last, the built platform is tested and evaluated through experimentations in the real world settings.

How Sincere is an Apology? Recovery Satisfaction in A Robot Service Failure Context

2021 ◽  
pp. 109634802110115
Author(s):  
Yaou Hu ◽  
Hyounae (Kelly) Min ◽  
Na Su
Keyword(s):  
Service Management ◽  
Service Failure ◽  
Service Recovery ◽  
Tourism Industry ◽  
Human Interaction ◽  
Service Robots ◽  
Service Robot ◽  
Recovery Satisfaction ◽  
Service Environments ◽  
Hospitality And Tourism Industry

This study examined the effects of service recovery entities (i.e., robot-generated text, robot-generated voice, and human service employee) on recovery satisfaction through the mediation of perceived sincerity. This study also tested the moderating role of the need for human interaction. The results of this study suggest that people perceive service recovery provided by a human to be more sincere than that provided by a service robot, thereby leading to higher levels of satisfaction. Moreover, this effect is stronger for those with a stronger need for human interaction. However, differences in perceived sincerity and recovery satisfaction were not identified between the use of service robots generating either text or a voice to express an apology. This study contributes to the theoretical discussion on ways to enhance customer experiences in robot service environments and provides insights that can guide service management in the hospitality and tourism industry.

scholarly journals Adaptive Floor Cleaning Strategy by Human Density Surveillance Mapping with a Reconfigurable Multi-Purpose Service Robot

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 2965
Author(s):  
Vinu Sivanantham ◽  
Anh Vu Le ◽  
Yuyao Shi ◽  
Mohan Rajesh Elara ◽  
Bing J. Sheu
Keyword(s):  
Social Distance ◽  
Large Population ◽  
Human Interaction ◽  
Superior Performance ◽  
Service Robot ◽  
Shopping Malls ◽  
Heat Map ◽  
Coverage Path Planning ◽  
Cleaning Methods ◽  
Multi Robot

Professional cleaning and safe social distance monitoring are often considered as demanding, time-consuming, repetitive, and labor-intensive tasks with the risk of getting exposed to the virus. Safe social distance monitoring and cleaning are emerging problems solved through robotics solutions. This research aims to develop a safe social distance surveillance system on an intra-reconfigurable robot with a multi-robot cleaning system for large population environments, like office buildings, hospitals, or shopping malls. We propose an adaptive multi-robot cleaning strategy based on zig-zag-based coverage path planning that works in synergy with the human interaction heat map generated by safe social distance monitoring systems. We further validate the proposed adaptive velocity model’s efficiency for the multi-robot cleaning systems regarding time consumption and energy saved. The proposed method using sigmoid-based non-linear function has shown superior performance with 14.1 percent faster and energy consumption of 11.8 percent less than conventional cleaning methods.

An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns

2021 ◽  
Vol 3 (5) ◽  
Author(s):  
Meysam Basiri ◽  
João Gonçalves ◽  
José Rosa ◽  
Alberto Vale ◽  
Pedro Lima
Keyword(s):  
Building Blocks ◽  
Service Robot ◽  
Mobile Manipulator ◽  
List Type ◽  
The Novel ◽  
Open Problems ◽  
Large Structures ◽  
Real World Application ◽  
Functional Complex ◽  
Construction Tasks

Abstract This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts. Article Highlights Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting Algorithms for detection, localization, picking and placement of heterogeneous building blocks to form large structures Versatile service robot capable of smooth adaptation to other functions developed through scientific robot competitions

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