Collision Avoidance Control of Human-Symbiotic Robot

Hosoda, Yuji; Yamamoto, Kenjirou; Ichinose, Ryouko; Egawa, Saku; Tamamoto, Junichi; Tsubouchi, Takashi

doi:10.1299/kikaic.77.1051

Cited by 6 publications

(4 citation statements)

References 10 publications

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“…To cooperate safely with humans, the robots must be able to understand humans' behaviors and the surrounding environ-ment. As stated above, the conventional approach that finds a collision-free path will not enable the robot to coordinate with humans even when it tries to pass through a narrow corridor, and this will cause the freezing problem [24][25][26][27]. To solve this problem, the robot needs the ability to cooperate with humans.…”

Section: Introductionmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

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Human-aware navigation is an essential requirement for autonomous robots in human-coexisting environments. The goal of conventional navigation is to find a path for a robot to pass through safely and efficiently without colliding with human. Note that if such a path cannot be found, the robot stops until a path is clear. Thus, such collision-avoidance based passive navigation does not work in a congested or narrow space. To avoid this freezing problem, the robot should induce humans to make a space for passing by an adequate inducement method, such as body movement, speech, and touch, depending on the situation. A robot that deliberately clears a path with such actions may make humans uncomfortable, so the robot should also utilize inducements to avoid causing negative feelings. In this study, we propose a fundamental framework of interactive navigation with situation-adaptive multimodal inducement. For a preliminary study, we target a passing scenario in a narrow corridor where two humans are standing and adopt a model-based approach focusing on common parameters. The suitable inducement basically varies depending on the largest space through which a robot can pass, distance between the robot and a human, and human behavior such as conversing. We thus develop a situation-adaptive inducement selector on the basis of the relationship between human-robot proximity and allowable inducement strength, considering robot efficiency and human psychology. The proposed interactive navigation system was tested across some contextual scenarios and compared with a fundamental path planner. The experimental results indicated that the proposed system solved freezing problems, provided a safe and efficient trajectory, and improved humans' psychological reaction although the evidence was limited to robot planner and hardware design we used as well as certain scenes, contexts, and participants.

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Section: Introductionmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

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“…As for the locomotion strategy based on predictions, Hosoda et al developed a novel collision avoidance algorithm for a human-symbiotic robot (7) . Their algorithm used the positions, volumes, and velocity vectors of surrounding pedestrians, and predicts the locomotion of surrounding pedestrians.…”

Section: Existing Research On Predictionmentioning

confidence: 99%

Velocity Control of Autonomous Powered Wheelchair Based on Interaction Prediction of Surrounding Pedestrian

Ito

Kamata

2011

JMTL

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Although electric-powered mobility devices with autonomous locomotion functions are considered helpful in assisting the elderly with decreased abilities to go on outings, technologies for safe locomotion in an outdoor environment with pedestrians have not yet been researched sufficiently. This research focuses on the autonomous locomotion on sidewalks where pedestrians coexist. An interactive locomotion strategy involving velocity control is also discussed. Taking into consideration the characteristics of sidewalks, a velocity control method that considers the interaction prediction of surrounding pedestrians was proposed and implemented into our prototype intelligent powered wheelchair. Through an experiment on a sidewalk test course, the operations of the proposed system were verified.

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“…Muhammad Ilhamdi Rusydi, Autonomous Movement Control of Coaxial Mobile Robot based on Aspect Ratio of Human Face for Public Relation Activity Using Stereo Thermal Camera architecture, two thermal cameras are used to measure the distance of the human [39]. A thermal camera is a camera that visualizes the heat energy emitted from an object and displays the temperature distribution in real-time [40]- [42].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Movement Control of Coaxial Mobile Robot based on Aspect Ratio of Human Face for Public Relation Activity Using Stereo Thermal Camera

Rusydi

Novira

Nakagome

et al. 2022

Journal of Robotics and Control

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In recent years, robots that recognize people around them and provide guidance, information, and monitoring have been attracting attention. The mainstream of conventional human recognition technology is the method using a camera or laser range finder. However, it is difficult to recognize with a camera due to fluctuations in lighting 1), and it is often affected by the recognition environment such as misrecognition 2) with a person's leg and a chair's leg with a laser range finder. Therefore, we propose a human recognition method using a thermal camera that can visualize human heat. This study aims to realize human-following autonomous movement based on human recognition. In addition, the distance from the robot to the person is measured with a stereo thermal camera that uses two thermal cameras. A coaxial two-wheeled robot that is compact and capable of super-credit turning is used as a mobile robot. Finally, we conduct an autonomous movement experiment of a coaxial mobile robot based on human recognition by combining these. We performed human-following experiments on a coaxial two-wheeled robot based on human recognition using a stereo thermal camera and confirmed that it moves appropriately to the location where the recognized person is in multiple use cases (scenarios). However, the accuracy of distance measurement by stereo vision is inferior to that of laser measurement. It is necessary to improve it in the case of movement that requires more accuracy.

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Collision Avoidance Control of Human-Symbiotic Robot

Cited by 6 publications

References 10 publications

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Velocity Control of Autonomous Powered Wheelchair Based on Interaction Prediction of Surrounding Pedestrian

Autonomous Movement Control of Coaxial Mobile Robot based on Aspect Ratio of Human Face for Public Relation Activity Using Stereo Thermal Camera

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