智能空间助老助残服务机器人人机协作导航

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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^1,2

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 Dawei^1,2

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 collaboration; navigation; intelligent space; human-robot interaction; human-robot coupling; service 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.