Development of a mobile robot moving on a handrail &amp;#x2014;Control for preceding a person keeping a distance

Fujiwara, Yuma; Hiroi, Yutaka; Tanaka, Yūki; Ito, Akinori

doi:10.1109/roman.2015.7333579

Cited by 5 publications

(6 citation statements)

References 17 publications

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“…For example, the robust person tracking method that can re-discover the target person will contribute to the realization of a robot that can follow a person [35], which can be applied to a robotic hand cart [36] or a smart wheelchair [27]. Moreover, this technology can also be applied to a guidance robot [37,38] that guides guests to a destination. When the robot is guiding the guest, the robot may lose the guest when the guest is hidden by other people.…”

Section: Resultsmentioning

confidence: 99%

Multiple player detection and tracking method using a laser range finder for a robot that plays with human

2018

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We are developing a robot that can play an outdoor game with children. In realizing such a robot, the person detection and tracking methods play an important role. In this paper, we propose methods for improving person detection and tracking using a laser range finder (LRF). A problem facing player detection using an LRF during play is that detection of a player's body sometimes fails because of the posture of the player. Thus, we propose two improvements of the conventional person detection algorithm. One is to determine the body boundary when an arm overlaps the body, and the other is to choose the most probable object as the body among the detected objects. Another problem is how to track players who are hidden by other players. We introduce a new algorithm to robustly track a player even when the player is behind other players. We conducted three experiments. In the first experiment, we investigate the performance improvement by the proposed player detection algorithm. The second experiment proves that the proposed player-tracking algorithm can robustly track a player even after the LRF has lost that player. In the last experiment, we conduct the game Darumasan ga Koronda using the developed system and confirm that the system can perform the game without large problems.

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Section: Resultsmentioning

confidence: 99%

Multiple player detection and tracking method using a laser range finder for a robot that plays with human

2018

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“…In the present work, we used a simple control strategy for maintaining a distance to the following person. This may be improved by introducing a more sophisticated control method, which considers the distance to the follower [46].…”

Section: Discussionmentioning

confidence: 99%

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Hiroi

Ito

2019

Robotics

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Many methods have been proposed for avoiding obstacles in robotic systems. However, a robotic system that moves without colliding with obstacles and people, while still being mentally safe to the persons nearby, has not yet been realized. In this paper, we describe the development of a method for a mobile robot to avoid a pedestrian approaching from the front and to pass him/her by while preserving the “public distance” of personal space. We assume a robot that moves along a prerecorded path. When the robot detects a pedestrian using a laser range finder (LRF), it calculates the trajectory to avoid the pedestrian considering their personal space, passes by the pedestrian, and returns to the original trajectory. We introduce a virtual target to control the robot moving along the path, such that it can use the same control strategy as for human-following behavior. We carry out experiments to evaluate the method along three routes, in which the robot functioned without problems. The distance between the robot and the pedestrian was 9.3 m, on average, when the robot started to use avoiding behavior, which is large enough to keep a public distance from a pedestrian. When the robot passed by the pedestrian, the minimum distance between them was 1.19 m, which was large enough for passing safely.

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“…When the guest moves slowly, the distance increases; the distance decreases when the guest follows the robot. Therefore, we implement the "pacing control" [49], a speed control method that maintains pacing by adjusting the robot's speed.…”

Section: Design Conceptmentioning

confidence: 99%

“…Fujiwara et al focused on the distance d h between the guest and the robot. They developed "pacing control" [49], in which the robot waits for the guided subject to approach by decreasing its speed when the distance is large and moving faster by increasing its speed when the distance is small. Figure 5 shows the robot's moving direction and distance.…”

Section: Controlling Human-robot Distance By the Robot's Speedmentioning

confidence: 99%

Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance

Wakabayashi,

Hiroi,

Miyawaki

et al. 2024

Sensors

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This paper proposes a novel tour guide robot, “ASAHI ReBorn”, which can lead a guest by hand one-on-one while maintaining a proper distance from the guest. The robot uses a stretchable arm interface to hold the guest’s hand and adjusts its speed according to the guest’s pace. The robot also follows a given guide path accurately using the Robot Side method, a robot navigation method that follows a pre-defined path quickly and accurately. In addition, a control method is introduced that limits the angular velocity of the robot to avoid the robot’s quick turn while guiding the guest. We evaluated the performance and usability of the proposed robot through experiments and user studies. The tour-guiding experiment revealed that the proposed method that keeps distance between the robot and the guest using the stretchable arm enables the guests to look around the exhibits compared with the condition where the robot moved at a constant velocity.

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Development of a mobile robot moving on a handrail —Control for preceding a person keeping a distance

Cited by 5 publications

References 17 publications

Multiple player detection and tracking method using a laser range finder for a robot that plays with human

Multiple player detection and tracking method using a laser range finder for a robot that plays with human

A Pedestrian Avoidance Method Considering Personal Space for a Guide Robot

Development of a Personal Guide Robot That Leads a Guest Hand-in-Hand While Keeping a Distance

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