Development of the multi-functional indoor service robot PSR systems

Abstract

This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.

Vision based Systems for Localization in Service Robots

“…This is more essential to our society where aged people live alone. Indoor service robots are being highlighted because of their potential in scientific, economic and social expectations [Chung et al, 2006;Do et al, 2007]. This is evident from the growth of service robots for specific service tasks around home and work places.…”

Development of a rotational meshing actuator for in-home life support systems

“…The DS location permits the robot to move within the local environment, and sometimes from one room to another. Chung et al [10] installed manipulators in a multifunctional indoor-service robot system. The mobilemanipulator-type service robots developed by them were designed to behave as intelligent agents in a real environment.…”

Machine Vision Based Information Collection of Mobile Manipulator for Moving Object Grasping

“…Due to own the high mobility combined with dexterous manipulation abilities, the mobile manipulators have attracted considerable attention in the area of industrial, agriculture, public service communities and so on [1][2][3][4][5][6]. There are some assigned targets to operate replacing human in various tedious, repetitive and hazardous task, and cameras are also selected to detect targets.…”