Real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot

2010 ◽  
Author(s):  
J. U. Kuehnle ◽  
M. Danzer ◽  
A. Verl ◽  
R. Bischoff
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Obstacle Detection ◽  
Service Robot ◽  
Mobile Service ◽  
Environment Model ◽  
3D Environment ◽  
Mobile Service Robot

Reflective Collision Avoidance for Mobile Service Robot in Person Coexistence Environment

2011 ◽  
Vol 23 (6) ◽  
pp. 999-1011 ◽  
Author(s):  
Takafumi Sonoura ◽  
◽  
Seiji Tokura ◽  
Tsuyoshi Tasaki ◽  
Fumio Ozaki ◽  
...  
Keyword(s):  
Path Planning ◽  
Collision Avoidance ◽  
Retail Store ◽  
Autonomous Robot ◽  
Service Robot ◽  
Mobile Service ◽  
Simple Operation ◽  
Operation Rules ◽  
Mobile Service Robot

A person coexistence environment is always changing. For example, people in the environment move around, someone changes the arrangement of the furniture, and someone puts something on the floor. Tasks of a service robot to support people include many scenes that the robot should move around in this environment. Without sensing the objects in the environment, it is difficult for an autonomous robot to move in the person coexistence environment protecting a people’s safety. Thus, an advanced ability to avoid collisions by adapting to the environment is required for a robot. From the viewpoint of robustness, a reflective collision avoidance algorithm has been used with predefined map-based path planning. However, because the algorithm is composed of simple operation rules, a robot depending on the reflective collision avoidance algorithm may often moves inefficiently. To ensure efficient collision avoidance, we propose a reflective collision avoidance technique that corrects direction and magnitude of robot velocity independently using 1-dimensional potential-like functions ruled by a pseudo distance that modifies its own distance in proportion to an angle from the robot traveling direction to the obstacle direction. We verify the effectiveness of the proposed technique for a robot developed to serve persons in a retail store.

Task and Design Requirements for an Affordable Mobile Service Robot for Elder Care in an All-Inclusive Care for Elders Assisted-Living Setting

2017 ◽  
Vol 12 (5) ◽  
pp. 989-1008 ◽  
Author(s):  
Michelle J Johnson ◽  
Megan A. Johnson ◽  
Justine S. Sefcik ◽  
Pamela Z. Cacchione ◽  
Caio Mucchiani ◽  
...  
Keyword(s):  
Assisted Living ◽  
Elder Care ◽  
Service Robot ◽  
Mobile Service ◽  
Design Requirements ◽  
Mobile Service Robot

scholarly journals Results of Field Trials with a Mobile Service Robot for Older Adults in 16 Private Households

2020 ◽  
Vol 9 (2) ◽  
pp. 1-27 ◽  
Author(s):  
Markus Bajones ◽  
David Fischinger ◽  
Astrid Weiss ◽  
Paloma De La Puente ◽  
Daniel Wolf ◽  
...  
Keyword(s):  
Older Adults ◽  
Field Trials ◽  
Service Robot ◽  
Mobile Service ◽  
Private Households ◽  
Mobile Service Robot

Design of Hybrid Mobile Service Robot

2012 ◽  
Vol 245 ◽  
pp. 255-260 ◽  
Author(s):  
Rudolf Jánoš ◽  
Mikuláš Hajduk ◽  
Ján Semjon ◽  
Ľuboslava Šidlovská
Keyword(s):  
Energy Efficiency ◽  
High Mobility ◽  
Outdoor Environment ◽  
Service Robot ◽  
Mobile Service ◽  
Mobile Platforms ◽  
Hybrid Platform ◽  
Moving Platform ◽  
Mobile Service Robot ◽  
Indoor And Outdoor

Wheels and legs are two widely accepted methodology used to move the moving platform to the ground. Wheels are human inventions, the rolls in a straight country excel in energy efficiency and speed of movement. Hybrid platform for integrating the benefits of legs and wheels with high mobility of both seems to be the "future" of mobile platforms for indoor and outdoor environment. This paper describes the design leg-wheel chassis for service robot.

New Prototype of the Two-Legged Robot CENTAUROB

2015 ◽  
Author(s):  
Shucen Du ◽  
Josef Schlattmann ◽  
Stefan Schulz ◽  
Arthur Seibel
Keyword(s):  
Service Robot ◽  
Mobile Service ◽  
Legged Robot ◽  
Stable Position ◽  
Unstructured Environments ◽  
Stewart Platforms ◽  
High Flexibility ◽  
First Time ◽  
Mobile Service Robot

The CENTAUROB is a mobile service robot which can operate in unstructured environments while always remain in a statically stable position. The special feature of this system is the use of two Stewart platforms as leg structures, providing high flexibility and maneuverability. By a special foot geometry (shape like a C), it has been possible for the first time to realize a walking biped which can even handle spiral staircases. In this paper, we present a new and advanced prototype of this system.

A Mobile Service Robot for Life Science Laboratories

2007 ◽  
pp. 315-318
Author(s):  
Erik Schulenburg ◽  
Norbert Elkmann ◽  
Markus Fritzsche ◽  
Christian Teutsch
Keyword(s):  
Life Science ◽  
Service Robot ◽  
Mobile Service ◽  
Science Laboratories ◽  
Mobile Service Robot
Sign in / Sign up

Export Citation Format

Share Document