Implementation and evaluation of an algorithm determining robot movement for home robot in living space

Takumi Kimura; Akira Mita

doi:10.1117/12.2514208

13 March 2019 Implementation and evaluation of an algorithm determining robot movement for home robot in living space

Takumi Kimura, Akira Mita

Proceedings Volume 10965, Bioinspiration, Biomimetics, and Bioreplication IX; 109650K (2019) https://doi.org/10.1117/12.2514208
Event: SPIE Smart Structures + Nondestructive Evaluation, 2019, Denver, Colorado, United States

Abstract

Recently, accidents in homes of elderly people are increasing due to an increase in single elderly people and shortage of nursing care workers in Japan. 70% of elderly accidents occur in their houses, and it is urgently needed to develop a system to watch residents. In Biofied Building, we are conducting a research on watching over the resident by introducing a small sensor agent robot into the house. It acquires physical information near the resident and acts as a communication robot. The robot must move carefully reflecting the position of the resident. The motion flow of the previously proposed robot continues to follow people at all times. There were concerns such as the possibility of a collision accident with people and furniture and discomfort due to the behavior of the robot. In this research, we propose a motion flow in which people and robots move alternately by incorporating standby behaviors in the motion flow of robot. These are intended to reduce the collision accident and discomfort by applying the potential method using the walking history of the resident. By setting the walking history of the resident as the repulsive potential, we estimated the place away from the flow line of the person as the standby position of the robot. Regarding the movement route, by using the walking history of a person as an attraction field, we generated a path away from furniture and walls. We conducted simulation studies and implemented the propose method to the robot.

Citation Download Citation

Takumi Kimura and Akira Mita "Implementation and evaluation of an algorithm determining robot movement for home robot in living space", Proc. SPIE 10965, Bioinspiration, Biomimetics, and Bioreplication IX, 109650K (13 March 2019); https://doi.org/10.1117/12.2514208

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
6 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Sensors

Laser range finders

Motion estimation

Algorithm development

Artificial intelligence

Environmental sensing

Mobile robots

Show All Keywords

Keywords/Phrases

Search In:

Publication Years