Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT

Göller, Michael; Kerscher, Thilo; Zöllner, J. Marius; Dillmann, Rüdiger

doi:10.1007/978-1-84882-985-5_43

Cited by 8 publications

(11 citation statements)

References 8 publications

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“…Other researchers used a physical interface to demonstrate a task to the robot [2], handing objects to people [8] and adjusting a person's posture with a robot for such tasks as dance instruction [37]. Goller et al developed a cart robot that can be controlled by haptic interactions [12].…”

Section: Physical Interaction In Hrimentioning

confidence: 99%

Effect of robot's active touch on people's motivation

Nakagawa

Shiomi²,

Shinozawa³

et al. 2011

Proceedings of the 6th International Conference on Human-Robot Interaction

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This paper presents the effect of a robot's active touch for improving people's motivation. For services in the education and healthcare fields, a robot might be useful for improving the motivation of performing such repetitive and monotonous tasks as exercising or taking medicine. Previous research demonstrated with a robot the effect of user touch on improving its impressions, but they did not clarify whether a robot's touch, especially an active touch, has enough influence on people's motive. We implemented an active touch behavior and experimentally investigated its effect on motivation. In the experiment, a robot requested participants to perform a monotonous task with a robot's active touch, a passive touch, or no touch. The result of experiment showed that an active touch by a robot increased the number of working actions and the amount of working time for the task. This suggests that a robot's active touch can support people to improve their motivation. We believe that a robot's active touch behavior is useful for such robot's services as education and healthcare.

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Section: Physical Interaction In Hrimentioning

confidence: 99%

Effect of robot's active touch on people's motivation

Nakagawa

Shiomi²,

Shinozawa³

et al. 2011

Proceedings of the 6th International Conference on Human-Robot Interaction

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“…2, see [5]) a task/goal-oriented attracting vector is merged with attracting and repelling vectors added by the various behaviors. Due to the dynamic environment no path planning is performed -the robot calculates the most beneficial movement live instead.…”

Section: A the Behavior Network Implementing The Reactive Layermentioning

confidence: 99%

“…The plan consists of sub-targets with time constrains, it is not a trajectory for the robot. The execution of the plan is performed by the basic behaviors (StraightToTraget, AvoidObstacles, EvadeDynamicObject, EscapeFromDynamicObject and the Safety Reflex -see [7], [5]) which guarantee safety even if the planning process should fail or the objects suddenly change direction or velocity drastically.…”

Section: Predictive Planner For Proactive Avoidance Of Dynamic Obsmentioning

confidence: 99%

Proactive avoidance of moving obstacles for a service robot utilizing a behavior-based control

Göller

Steinhardt

Kerscher

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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A main challenge in the application of service robotics is safe and reliable navigation of robots in human everyday environments. Supermarkets, which are chosen here as an example, pose a challenging scenario because they usually have a cluttered and nested character. The robot has to avoid collisions with static and even with moving obstacles while interacting with nearby humans or a dedicated user respectively. This paper presents a hierarchical approach for the proactive avoidance of moving objects as it is used on the robot shopping trolley InBOT. The behavior-based control (bbc) of InBOT is extended by a reflex and a reactive behavior to ensure adequate reaction times when confronted with a possible collision. On top of the bbc a spatio-temporal planner is situated which is able to predict environmental changes and therefore can generate a safe movement sequence accordingly.

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“…To dock the wheelchair to the bed from sideways, which is better adapted to the narrow space, the wheelchair must be capable of lateral motion and be positioned precisely against the fixture. The omnidirectional vehicles have been developed by different groups in the last several years, for example, the ball wheel mechanism, 7 the double-offset active caster wheel, 8 the Mecanum Wheel, 9 and the Swiss Wheel. 10 The vehicle mechanism used for the robotic chair/bed system is based on a special sixwheel mechanism, which has larger load capacity and almost no skidding and noise, allowing for precision docking and smooth and silent motion.…”

Section: The Six-wheel Laterally Movable Vehiclementioning

confidence: 99%

Mechanism design of a robotic chair/bed system for bedridden aged

Meng

Ren

Qinglin

et al. 2017

Advances in Mechanical Engineering

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A robotic chair/bed system for assisting bedridden aged for their independent life in bed is developed and tested. This robotic system can assist bedridden people to lead a relatively independent life, so as to relieve the burdens for their families and healthcare personnel. The robotic chair/bed system consists of a reconfigurable and omnidirectional mobile chair/bed and a U-shaped bed. The wheelchair can be docked to the U-shaped bed and reconfigured to a static bed for transportation between chair and bed. A six-wheel omnidirectional vehicle is used for the chair/bed. The bed is equipped with a mechanism for repositioning a rigid body with a flexible sheet to alleviate bedsores and other ailments. Through the teleconferencing facility on the bed, the bedridden patient is supervised and assisted all the time by the distal caregiver. The design concept of the chair/bed system is described in short. The mechanism design and analysis of the vehicle, the flipping-body function, and the chair/bed are discussed. The issue of the docking control is addressed. A prototype system is designed and tested. The technical feasibility is verified.

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Obstacle Handling of the Holonomic-driven Interactive Behavior-operated Shopping Trolley InBOT

Cited by 8 publications

References 8 publications

Effect of robot's active touch on people's motivation

Effect of robot's active touch on people's motivation

Proactive avoidance of moving obstacles for a service robot utilizing a behavior-based control

Mechanism design of a robotic chair/bed system for bedridden aged

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