TY - GEN
T1 - Vision based interface and control of assistive mobile robot system
AU - Takagi, Motoki
AU - Takahashi, Yoshiyuki
AU - Yamamoto, Shinichiro
AU - Koyama, Hiroyuki
AU - Komeda, Takashi
PY - 2007/12/1
Y1 - 2007/12/1
N2 - We have been trying to develop Assistive MObile robot System (AMOS). The aim of AMOS is to replace only simple assistive work that picking up, transporting and placing the daily use objects in designated indoor location semi autonomously to reduce the burden of the care taker. AMOS should avoid any kind of collisions in the environment Therefore, the amount of sensors and functionalities are increased. In addition, the system is becoming huge and complicated. To control the AMOS robustly, we invented the concept of Shared Responsibility and the control method. The concept is applied to AMOS. Within the concept, the functionality of AMOS can be divided to four, Vision Based User Interface, Navigation System, Object Localization and Grasping, and Software Framework And finally all of four elements are developed.
AB - We have been trying to develop Assistive MObile robot System (AMOS). The aim of AMOS is to replace only simple assistive work that picking up, transporting and placing the daily use objects in designated indoor location semi autonomously to reduce the burden of the care taker. AMOS should avoid any kind of collisions in the environment Therefore, the amount of sensors and functionalities are increased. In addition, the system is becoming huge and complicated. To control the AMOS robustly, we invented the concept of Shared Responsibility and the control method. The concept is applied to AMOS. Within the concept, the functionality of AMOS can be divided to four, Vision Based User Interface, Navigation System, Object Localization and Grasping, and Software Framework And finally all of four elements are developed.
UR - http://www.scopus.com/inward/record.url?scp=48349107863&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349107863&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2007.4428448
DO - 10.1109/ICORR.2007.4428448
M3 - Conference contribution
AN - SCOPUS:48349107863
SN - 1424413206
SN - 9781424413201
T3 - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
SP - 341
EP - 346
BT - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
T2 - 2007 IEEE 10th International Conference on Rehabilitation Robotics, ICORR'07
Y2 - 12 June 2007 through 15 June 2007
ER -