Development of service robot for fetching objects in home environment

Tapio Taipalus, Kazuhiro Kosuge

Research output: Contribution to conferencePaperpeer-review

26 Citations (Scopus)

Abstract

Regarding to global problem of ageing, mobile manipulator type of home service robot MARY (Mobile Assistant Robot for You) has been developed in the Department of Bioengineering and Robotics, Tohoku University. The usual problems that elderly people encounter in their lives in home environment are studied. Decreased mobility is found to be among the first reasons for moving to care institutions from home. One reason for moving around at home is need to carry objects. Considering this, fetching of objects from table-tops or shelves in home environment is one of the key functionalities for a mobile manipulator type of home robot. In this work functionality of the MARY robot is enhanced. The fetching task is implemented using multimodal user interface (UI) with touch and voice inputs designed for elderly people. Intelligent adaptive manipulation strategy simplifies the usage of the system, based on image processing of images from on-board cameras. System functionality is evaluated with tests of the subsystems.

Original languageEnglish
Pages451-456
Number of pages6
Publication statusPublished - 2005 Dec 12
Event2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005 - Espoo, Finland
Duration: 2005 Jun 272005 Jun 30

Other

Other2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005
CountryFinland
CityEspoo
Period05/6/2705/6/30

Keywords

  • Color extraction
  • Home robot
  • Manipulation strategy
  • Multimodal user-interface

ASJC Scopus subject areas

  • Computational Mathematics

Fingerprint Dive into the research topics of 'Development of service robot for fetching objects in home environment'. Together they form a unique fingerprint.

Cite this