Development of a user-following mobile robot with a stand-up assistance function

In this paper, a user-following mobile robot which tracks and follows the user, offering stand-up assistance function is proposed. The proposed robot plays the role of a chair where the user can sit on, and offers a stand-up assistance function compensating the lack of muscle strength. In the propos...

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Bibliographic Details
Published inCognitive robotics Vol. 2; pp. 83 - 95
Main Authors Mu, Shenglin, Shibata, Satoru, Yamamoto, Tomonori
Format Journal Article
LanguageEnglish
Published Elsevier B.V 2022
KeAi Communications Co. Ltd
Subjects
PD Control
Speed control
User recognition using depth sensor
User-following mobile robot
Walk tracking
Walk tracking
Speed control
User-following mobile robot
PD Control
User recognition using depth sensor
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Summary:In this paper, a user-following mobile robot which tracks and follows the user, offering stand-up assistance function is proposed. The proposed robot plays the role of a chair where the user can sit on, and offers a stand-up assistance function compensating the lack of muscle strength. In the proposed robot, a sensing method for buttocks recognition using a depth sensor is proposed. By measuring the distance from the user’s buttocks, the walking state is recognized and the tracking is performed at a fixed distance. As an approach to realize the tracking function, a human tracking method for mobile robots using PD control is constructed. According experimental study, usefulness of the proposed mobile robot with the function of user-following and stand-up assistance is confirmed. The user recognition method and the tracking method using PD control are confirmed effective. With the proposed robot system, improvement in welfare field can be expected.
ISSN:2667-2413
2667-2413
DOI:10.1016/j.cogr.2022.03.003