Personal robot assisting transportation to support active human life — Human-following method based on model predictive control for adjacency without collision

2015 IEEE International Conference on Mechatronics (ICM) Pub Date : 2015-09-01 DOI:10.1109/IROS.2015.7354140

N. Hirose, R. Tajima, K. Sukigara

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引用次数: 17

Abstract

An aging society exists throughout the entire world. In order to support the aging society, service robots that are able to improve our comfortable lifestyle and increase longevity have been developed. However, excessive and premature robot support may cause not only the deterioration of our physical ability but also shortening of the period of well-being. In our research group, a personal robot that can carry baggage and automatically follow a human being was developed to overcome the above problem. The people that use this personal robot will be able to walk outside with empty hands, even after shopping, thus contributing to their health management. In this paper, the past prototypes of the personal robot are discussed, and the new robot is presented. Also, a human-following method based on model predictive control is proposed to realize the contradicting requirements of both shortening the relative distance between the owner and the robot and ensuring no collision. The effectiveness of the proposed approach is verified by numerical simulation of the prototype robot.

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辅助运输的个人机器人支持人类的主动生活——基于模型预测控制的无碰撞邻接人类跟随方法

老龄化社会在全世界都存在。为了支持老龄化社会，能够改善我们舒适的生活方式和延长寿命的服务机器人已经被开发出来。然而，过度和过早的机器人支持不仅会导致我们身体能力的退化，而且会缩短我们的幸福期。为了克服上述问题，我们课题组开发了一种可以携带行李并自动跟随人的个人机器人。使用这种个人机器人的人即使在购物后也可以空手走出去，从而有助于他们的健康管理。本文对以往的个人机器人原型进行了讨论，并提出了一种新的机器人。同时，提出了一种基于模型预测控制的人跟随方法，以实现缩短主人与机器人之间的相对距离和保证不发生碰撞的矛盾要求。通过样机的数值仿真验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2015 IEEE International Conference on Mechatronics (ICM)

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