scholarly journals Swarm Robot Control for Human Services and Moving Rehabilitation by Sensor Fusion

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Tresna Dewi ◽  
Naoki Uchiyama ◽  
Shigenori Sano ◽  
Hiroki Takahashi
Keyword(s):  
Mobile Robots ◽  
Sensor Fusion ◽  
Human Services ◽  
Current Trend ◽  
Living Environment ◽  
Service Robots ◽  
Service Robot ◽  
Fixed Area ◽  
Swarm Robot ◽  
Different Characteristics

A current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a robot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application is the service robot. To achieve better performance, several service robots are preferred to work together, and, hence, this paper concentrates on swarm service robots. Swarm service mobile robots operating within a fixed area need to cope with dynamic changes in the environment, and they must also be capable of avoiding dynamic and static obstacles. This study applies sensor fusion and swarm concept for service mobile robots in human services and rehabilitation environment. The swarm robots follow the human moving trajectory to provide support to human moving and perform several tasks required in their living environment. This study applies a reference control and proportional-integral (PI) control for the obstacle avoidance function. Various computer simulations are performed to verify the effectiveness of the proposed method.

A REVIEW OF SENSOR TECHNOLOGY AND SENSOR FUSION METHODS FOR MAP-BASED LOCALIZATION OF SERVICE ROBOT

2016 ◽  
Vol 78 (7-5) ◽  
Author(s):  
Lim Thol Yong ◽  
Yeong Che Fai ◽  
Eileen Su Lee Ming
Keyword(s):  
Sensor Fusion ◽  
Optimal Path ◽  
Service Robots ◽  
Sensor Technology ◽  
Service Robot ◽  
Dynamic Changes ◽  
Localization Method ◽  
Comparative Review ◽  
Fusion Methods ◽  
Sensor Information

Service robot is currently gaining traction, particularly in hospitality, geriatric care and healthcare industries. The navigation of service robots requires high adaptability, flexibility and reliability. Hence, map-based navigation is suitable for service robot because of the ease in updating changes in environment and the flexibility in determining a new optimal path. For map-based navigation to be robust, an accurate and precise localization method is necessary. Localization problem can be defined as recognizing the robot’s own position in a given environment and is a crucial step in any navigational process. Major difficulties of localization include dynamic changes of the real world, uncertainties and limited sensor information. This paper presents a comparative review of sensor technology and sensor fusion methods suitable for map-based localization, focusing on service robot applications. 

scholarly journals Mission Planning of Mobile Robots and Manipulators for Service Applications

Robotics ◽  
2013 ◽  
pp. 225-247
Author(s):  
Elias K. Xidias ◽  
Nikos A. Aspragathos ◽  
Philip N. Azariadis
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Mission Planning ◽  
Service Robots ◽  
Service Robot ◽  
Indoor Environments ◽  
Mathematical Entity ◽  
Planning And Scheduling ◽  
Body Of Knowledge ◽  
Planning Approach

The purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.

Mission Planning of Mobile Robots and Manipulators for Service Applications

2012 ◽  
pp. 51-77 ◽  
Author(s):  
Elias K. Xidias ◽  
Nikos A. Aspragathos ◽  
Philip N. Azariadis
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Mission Planning ◽  
Service Robots ◽  
Service Robot ◽  
Indoor Environments ◽  
Mathematical Entity ◽  
Planning And Scheduling ◽  
Body Of Knowledge ◽  
Planning Approach

The purpose of this chapter is to present a mission planning approach for a service robot, which is moving and manipulating objects in semi-structured and partly known indoor environments such as stores, hospitals, and libraries. The recent advances and trends in motion planning and scheduling of mobile robots carrying manipulators are presented. This chapter adds to the existing body of knowledge of motion planning for Service Robots (SRs), an approach that is based on the Bump-Surface concept. The Bump-Surface concept is used to represent the entire robot’s environment through a single mathematical entity. Criteria and constraints for the mission planning are adapted to the service robots. Simulation examples are presented to show the effectiveness of the presented approach.

scholarly journals Research on Map Construction and Location of Laboratory Service Robot based on Iterative Closest Point

2020 ◽  
Vol 14 ◽  
Keyword(s):  
Mobile Robots ◽  
Nearest Neighbor ◽  
Laser Scanner ◽  
Service Robots ◽  
Iterative Closest Point ◽  
Service Robot ◽  
Matching Algorithm ◽  
Laboratory Service ◽  
Translation Error ◽  
Map Construction

The development of mobile robots has led to their wide application in a variety of fields. This study focuses on the intelligent application of mobile robots in laboratory management, especially the environmental awareness and self-positioning of a robot in the laboratory. In this study, a wheeled mobile robot is selected and equipped with a 2D laser scanner. Based on this, a Robot Operating System (ROS) environment is built. The nearest neighbor iterative closest point (ICP) matching algorithm is utilized to perceive the laboratory service environment, construct the indoor map in real time, and locate the robot precisely. Subsequently, data collected in the corridors and indoor environment of the experimental building are used to test the accuracy of the ICP matching algorithm. The results showed that the minimum translation error is as low as 0.0003 m and that the minimum rotation angle error is less than 0.5°. In addition, the positioning and mapping of the robot were analyzed. The experimental results show that the ICP matching algorithm is well suited to map construction and positioning of the laboratory service robot. This is of great significance for further research on laboratory service robots.

scholarly journals Improving the robustness of a service robot for continuous indoor monitoring: An incremental approach

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110121
Author(s):  
David Portugal ◽  
André G Araújo ◽  
Micael S Couceiro
Keyword(s):  
Real World ◽  
Service Robots ◽  
Service Robot ◽  
Technology Readiness ◽  
Incremental Approach ◽  
Technology Readiness Level ◽  
Readiness Level ◽  
Software And Hardware ◽  
Indoor Monitoring

To move out of the lab, service robots must reveal a proven robustness so they can be deployed in operational environments. This means that they should function steadily for long periods of time in real-world areas under uncertainty, without any human intervention, and exhibiting a mature technology readiness level. In this work, we describe an incremental methodology for the implementation of an innovative service robot, entirely developed from the outset, to monitor large indoor areas shared by humans and other obstacles. Focusing especially on the reliability of the fundamental localization system of the robot in the long term, we discuss all the incremental software and hardware features, design choices, and adjustments conducted, and show their impact on the performance of the robot in the real world, in three distinct 24-h long trials, with the ultimate goal of validating the proposed mobile robot solution for indoor monitoring.

The robot-to-robot service encounter: an examination of the impact of inter-robot warmth

2021 ◽  
Vol 35 (9) ◽  
pp. 15-27
Author(s):  
Magnus Söderlund
Keyword(s):  
Design Methodology ◽  
Service Robots ◽  
Service Robot ◽  
Service Encounters ◽  
Experimental Setting ◽  
Content Type ◽  
Robot Systems ◽  
Synthetic Agents ◽  
High Level ◽  
The Impact

Purpose This study aims to examine humans’ reactions to service robots’ display of warmth in robot-to-robot interactions – a setting in which humans’ impressions of a service robot will not only be based on what this robot does in relation to humans, but also on what it does to other robots. Design/methodology/approach Service robot display of warmth was manipulated in an experimental setting in such a way that a service robot A expressed low versus high levels of warmth in relation to another service robot B. Findings The results indicate that a high level of warmth expressed by robot A vis-à-vis robot B boosted humans’ overall evaluations of A, and that this influence was mediated by the perceived humanness and the perceived happiness of A. Originality/value Numerous studies have examined humans’ reactions when they interact with a service robot or other synthetic agents that provide service. Future service encounters, however, will comprise also multi-robot systems, which means that there will be many opportunities for humans to be exposed to robot-to-robot interactions. Yet, this setting has hitherto rarely been examined in the service literature.

scholarly journals Application Problems and Solutions of Intelligent Airport Service Robots

2020 ◽  
Vol 198 ◽  
pp. 04030
Author(s):  
Dai Yanyan ◽  
Chen Meng
Keyword(s):  
Artificial Intelligence ◽  
Cloud Computing ◽  
Big Data ◽  
Large Scale ◽  
New Technologies ◽  
Effective Means ◽  
Third Party ◽  
Service Robots ◽  
Service Robot ◽  
Operation Conditions

With the development of new technologies such as artificial intelligence, big data, and cloud computing, the “intelligent airport” is considered to be an effective means to solve or alleviate the current industry problems such as large-scale airport business, the large number of operating entities, and the complicated operation conditions. This paper is about the collaboration between universities and enterprises based on the concept of service design. Relying on big data and cloud computing technology, this paper addresses the problems of airport service robots in inquiries, blind spots of security inspection, and full monomer smart navigation diffluence, combined with the basic technology of service robot artificial intelligence and the third-party interface to design solutions to effectively solve the problems of process.

Self-Calibration of Eye-to-Hand and Workspace for Mobile Service Robot

2012 ◽  
pp. 229-246
Author(s):  
Jwu-Sheng Hu ◽  
Yung-Jung Chang
Keyword(s):  
Visual Information ◽  
Calibration Method ◽  
Industrial Robots ◽  
Service Robots ◽  
Service Robot ◽  
Mobile Service ◽  
Robot Arm ◽  
Self Calibration ◽  
Laser Distance Sensor ◽  
Distance Sensor

The geometrical relationships among robot arm, camera, and workspace are important to carry out visual servo tasks. For industrial robots, the relationships are usually fixed and well calibrated by experienced operators. However, for service robots, particularly in mobile applications, the relationships might be changed. For example, when a mobile robot attempts to use the visual information from environmental cameras to perform grasping, it is necessary to know the relationships before taking actions. Moreover, the calibration should be done automatically. This chapter proposes a self-calibration method using a laser distance sensor mounted on the robot arm. The advantage of the method, as compared with pattern-based one, is that the workspace coordinate is also obtained at the same time using the projected laser spot. Further, it is not necessary for the robot arm to enter the view scope of the camera for calibration. This increases the safety when the workspace is unknown initially.

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