Development of a user-following mobile robot with a stand-up assistance function

Cognitive Robotics Pub Date : 2022-01-01 DOI:10.1016/j.cogr.2022.03.003

Shenglin Mu, Satoru Shibata, Tomonori Yamamoto

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Abstract

In this paper, a user-following mobile robot which tracks and follows the user, offering stand-up assistance function is proposed. The proposed robot plays the role of a chair where the user can sit on, and offers a stand-up assistance function compensating the lack of muscle strength. In the proposed robot, a sensing method for buttocks recognition using a depth sensor is proposed. By measuring the distance from the user’s buttocks, the walking state is recognized and the tracking is performed at a fixed distance. As an approach to realize the tracking function, a human tracking method for mobile robots using PD control is constructed. According experimental study, usefulness of the proposed mobile robot with the function of user-following and stand-up assistance is confirmed. The user recognition method and the tracking method using PD control are confirmed effective. With the proposed robot system, improvement in welfare field can be expected.

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具有站立辅助功能的用户跟随移动机器人的研制

本文提出了一种用户跟随移动机器人，它可以跟踪和跟随用户，并提供站立辅助功能。该机器人可以扮演椅子的角色，用户可以坐在上面，并提供站立辅助功能，以弥补肌肉力量的不足。在该机器人中，提出了一种基于深度传感器的臀部识别方法。通过测量与用户臀部的距离，识别行走状态，并在固定距离内进行跟踪。作为跟踪功能的实现途径，构造了一种基于PD控制的移动机器人人体跟踪方法。通过实验研究，验证了所设计的具有用户跟随和站立辅助功能的移动机器人的实用性。验证了用户识别方法和PD控制跟踪方法的有效性。通过提出的机器人系统，可以预期福利领域的改善。

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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来源期刊

Cognitive Robotics

CiteScore

8.40

自引率

0.00%

发文量