Design of Robotic Human Assistance Systems Using a Mobile Manipulator-Reference-Cited by-同舟云学术

Design of Robotic Human Assistance Systems Using a Mobile Manipulator

Published:2012-01-01 Issue:5 Volume:9 Page:165
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Jia Yunyi¹,Liu Yong²,Xi Ning¹,Wang Hai¹,Stürmer Philipp¹

Affiliation:

1. Department of Electrical and Computer Engineering, Michigan State University, USA

2. School of Computer Science and Engineering, Nanjing University of Science & Technology, Nanjing, China

Abstract

Robotic systems have been widely used in many areas to assist human beings. Mobile manipulators are among the most popular choices. This paper investigates human assistance systems using a mobile manipulator, for example, to guide the blind and to transport objects. Distinct from existing systems, an integrated dynamic model and controller of the mobile manipulator are designed. Singularity, manipulability and safety are all considered in the system design. Furthermore, two human assistance modes – Robot-Human mode and Teleoperator-Robot-Human mode – are designed and analysed. The Teleoperator-Robot-Human mode can integrate human intelligence into the assistance system to further enhance the system efficiency and safety. The experimental results implemented on a mobile manipulator demonstrated the effectiveness of the designed systems.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/50828

Reference5 articles.

1. Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint

2. Hybrid position/force control of a mobile manipulator based on cooperative task sharing

Cited by 5 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Active robot-assisted feeding with a general-purpose mobile manipulator: Design, evaluation, and lessons learned;Robotics and Autonomous Systems;2020-02

2. A Robotic Lift Assister: A Smart Companion for Heavy Payload Transport and Manipulation in Automotive Assembly;IEEE Robotics & Automation Magazine;2018-06

3. Use of human gestures for controlling a mobile robot via adaptive CMAC network and fuzzy logic controller;Neurocomputing;2018-03

4. Control system for the haptic paddle used in mobile robotics;International Journal of Advanced Robotic Systems;2017-09-01

5. Balance Analysis of the Mobile Anthropomimetic Robot Under Disturbances – ZMP Approach;International Journal of Advanced Robotic Systems;2013-01-01