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Article: Design of robotic human assistance systems using a mobile manipulator

TitleDesign of robotic human assistance systems using a mobile manipulator
Authors
KeywordsMobile manipulator
Human assistance
Cooperation
Issue Date2012
Citation
International Journal of Advanced Robotic Systems, 2012, v. 9 How to Cite?
AbstractRobotic 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. © 2012 Jia et al.
Persistent Identifierhttp://hdl.handle.net/10722/213279
ISSN
2015 Impact Factor: 0.615
2015 SCImago Journal Rankings: 0.402

 

DC FieldValueLanguage
dc.contributor.authorJia, Yunyi-
dc.contributor.authorLiu, Yong-
dc.contributor.authorXi, Ning-
dc.contributor.authorWang, Hai-
dc.contributor.authorStürmer, Philipp-
dc.date.accessioned2015-07-28T04:06:45Z-
dc.date.available2015-07-28T04:06:45Z-
dc.date.issued2012-
dc.identifier.citationInternational Journal of Advanced Robotic Systems, 2012, v. 9-
dc.identifier.issn1729-8806-
dc.identifier.urihttp://hdl.handle.net/10722/213279-
dc.description.abstractRobotic 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. © 2012 Jia et al.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Advanced Robotic Systems-
dc.subjectMobile manipulator-
dc.subjectHuman assistance-
dc.subjectCooperation-
dc.titleDesign of robotic human assistance systems using a mobile manipulator-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.5772/50828-
dc.identifier.scopuseid_2-s2.0-84870460012-
dc.identifier.volume9-
dc.identifier.eissn1729-8814-

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