Mobile robot and mobile manipulator research towards ASTM standards development

Bostelman, Roger V.; Hong, Tsai Hong; Legowik, Steven

doi:10.1117/12.2228464

Cited by 9 publications

(15 citation statements)

References 4 publications

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“…Such a healthcare robot can facilitate the execution of repetitive and time-consuming activities by sharing the workload with healthcare personnel and thus contributing to the greater efficiency and quality of nursing and assistance tasks 9,10 . Mobile manipulator robots are a class of robots that have robot arm(s) onboard a mobile robotic platform 11 . Given that these robots can move within a setting (such as a healthcare center or long-term care facility) and manipulate objects and tools, they have great potential for assisting healthcare workers in their job duties.…”

Section: Introductionmentioning

confidence: 99%

Understanding healthcare providers’ perceptions of a personal assistant robot

et al. 2018

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To successfully deploy a robot into a healthcare setting, it must be accepted by the end users. This study explored healthcare providers’ perceptions of a mobile manipulator class personal robot assisting with caregiving tasks for older adult patients. Participants were 14 healthcare providers with an average of 12 years of continuous work experience with older patients. Quantitative and qualitative methods were used. Participants indicated a willingness to use a mobile manipulator robot as an assistant, yet they expressed discretion in their acceptance for different tasks. Benefits of robot assistance noted by participants included saving time, being accurate when conducting medical tasks, and enabling them to be more productive. Participants expressed concern about robots being unreliable, hazardous to patients, and inappropriate for performing some tasks (e.g., those that involve close patient contact). These findings provide insights into healthcare providers’ attitudes and preferences for assistance from a mobile manipulator robot.

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Section: Introductionmentioning

confidence: 99%

Understanding healthcare providers’ perceptions of a personal assistant robot

et al. 2018

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“…The algorithms from Section 2 were applied to data gathered in a laboratory setting at the National Institute of Standards and Technology (NIST) (see Table 5 in Appendix A). As test cases, two types of mobile manipulator performance measurements have been studied in [2,3]: static and index manipulator base configurations. The static case allows the AGV to position the manipulator base to a single location where it can reach all chosen assembly targets within a pattern (circle, square, or other).…”

Section: Resultsmentioning

confidence: 99%

“…A simple and low-cost method for calibrating and measuring the performance of this mobile manipulator is formulated by wielding a laser retroreflector to the robotic manipulator as an end-ofarm-tool. The retroreflector has a binary output which turns on when it detects a reflector (target) that is attached to a Reconfigurable Mobile Manipulator Artifact (RMMA) [2,3]. The horizontal two-dimensional (2D) position of the robot arm with respect to its base is recorded when a reflector is detected.…”

Section: Introductionmentioning

confidence: 99%

Calibration of mobile manipulators using 2D positional features

et al. 2018

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Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathematically presented by providing a closed form solution to the positional component of the 2D robotworld/hand-eye calibration problem AX Y= B. The method is then applied to simulated data as well as data collected in a laboratory setting and compared to other methods.

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“…In [19], a squaresearch method was tested. The "square search" is a sequence of points in a spiral pattern on a square grid.…”

Section: Fine and Bisect Search Methodsmentioning

confidence: 99%

Comparison of Registration Methods for Mobile Manipulators

Bostelman¹,

Eastman²,

Hong³

et al. 2016

Advances in Cooperative Robotics

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Mobile manipulators can be effective, efficient and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece registration, with the intent of evaluating how quickly, repeatably, and accurately a mobilemanipulator end effector can be aligned with a known physical target to facilitate peg-in-hole insertion tasks. To evaluate mobile manipulator docking, we conducted experiments with an AGV-mounted arm in a laboratory space equipped with an extensive optical tracking system and a standardized test piece (artifacts) simulating an industrial assembly. We experimented with different strategies and sensors for registration and report on these approaches. * Disclaimer: NIST does not endorse products discussed within this paper nor manufacturers of these products. Products mentioned are for information purposes only and are not expressed as an endorsement for them or their manufacturer.

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Mobile robot and mobile manipulator research towards ASTM standards development

Cited by 9 publications

References 4 publications

Understanding healthcare providers’ perceptions of a personal assistant robot

Understanding healthcare providers’ perceptions of a personal assistant robot

Calibration of mobile manipulators using 2D positional features

Comparison of Registration Methods for Mobile Manipulators

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