[1]江济良,屠大维.智能空间助老助残服务机器人人机协作导航[J].智能系统学报,2014,9(05):560-568.[doi:10.3969/j.issn.1673-4785.201307001]
 JIANG Jiliang,TU Dawei.Human-robot collaboration navigation of service robots for the elderly and disabled in an intelligent space[J].CAAI Transactions on Intelligent Systems,2014,9(05):560-568.[doi:10.3969/j.issn.1673-4785.201307001]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第9卷
期数:
2014年05期
页码:
560-568
栏目:
出版日期:
2014-10-25

文章信息/Info

Title:
Human-robot collaboration navigation of service robots for the elderly and disabled in an intelligent space
作者:
江济良1 屠大维12
1. 上海大学 机电工程与自动化学院, 上海 200072;
2. 上海市智能制造及机器人重点实验室, 上海 200072
Author(s):
JIANG Jiliang1 TU Dawei12
1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;
2. Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai 200072, China
关键词:
人机协作导航智能空间人机交互人机耦合服务机器人
Keywords:
human-robot collaborationnavigationintelligent spacehuman-robot interactionhuman-robot couplingservice robot
分类号:
TP18
DOI:
10.3969/j.issn.1673-4785.201307001
摘要:
针对具有基本认知行为能力的行动不便老人、肢残人士、运动和语言患者这类服务对象,构建了助老助残服务机器人人机一体化导航系统。用户与机器人之间进行交互,自由切换随机行走和自主导航2种运动模式,机器人根据现场环境和作业条件的不同,实时触发人机条件响应生成规则而产生相应的行走行为,作业时人机界面同步呈现虚实结合、实时交互的智能空间,实现人机一体化感知、决策与执行。以移动作业服务机器人为对象进行室内人机一体化导航作业,验证了该人机一体化导航系统的可行性。
Abstract:
For the users owning basic cognitive ability, such as the elderly with reduced mobility, physically disabled persons, and motion and speech impaired patients, a human-robot integrated navigation system is established for them in this paper. The two motion modes of random walking and autonomous navigation can be switched freely by the user through human-robot interaction. The robot triggers the production rules for generating the corresponding walking behavior according to surroundings and operating conditions. In the process of human-robot roaming, an intelligent space is rendered synchronously on the interface of human-robot interaction based on augmented reality. Therefore, the human-robot integrated perception, decision and execution are achieved in human-robot roaming. Human-robot roaming experiments for a mobile service robot were carried out in an indoor environment, which verifies the feasibility of the proposed system.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-07-01。
基金项目:国家自然科学基金项目资助项目(51075252,61101177,61203351).
作者简介:江济良, 男, 1985年生, 博士研究生, 主要研究方向为服务机器人、智能机器人、机器视觉、人机智能。
通讯作者:屠大维, 男, 1965年生, 教授, 博士生导师, 主要研究方向为机器视觉及伺服控制、光机电一体化智能机械及仪器、人机智能系统。E-mail:tdw@shu.edu.cn.
更新日期/Last Update: 1900-01-01