ROMAN:用于室内服务应用的移动机器人助手

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97 Pub Date : 1997-09-07 DOI:10.1109/IROS.1997.655061

U. Hanebeck, C. Fischer, G. Schmidt

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引用次数: 47

摘要

本文介绍了一种用于医疗保健应用和家庭自动化的移动服务机器人的设计问题。研究了实现半自主操作所需的关键组件，包括:1。1 .高度机动的运动平台;2 .拟人化操纵器;一个可靠的多传感器系统，和一个4。多通道human-robot-interface。此外，还介绍了相关的信息处理和控制方法。特别强调的是将单个组件集成到全尺寸服务机器人中的系统架构。通过在各种实际服务场景中的实验证明了所提出方法的性能和有用性。

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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ROMAN: a mobile robotic assistant for indoor service applications

The paper describes design issues of a mobile service robot for health care applications and domestic automation. Key components required for achieving semi-autonomous operation are surveyed, including: 1. a highly maneuverable locomotion platform, 2. an anthropomorphous manipulator, 3. a reliable multisensor system, and a 4. multimodal human-robot-interface. In addition, related information processing and control methodologies are presented. Special emphasis is put on a system architecture for integration of the individual components into a full-size service robot. Performance and usefulness of the proposed approaches are demonstrated through experiments in various real-world service scenarios.

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97

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