Service robot for the elderly

Author

Kim, Minseong ; Kim, Suntae ; Park, Sooyong ; Choi, Mun-Taek ; Kim, Munsang ; Gomaa, Hassan

Author_Institution

Carnegie Mellon Univ., Pittsburgh, PA

Volume

16

Issue

1

fYear

2009

fDate

3/1/2009 12:00:00 AM

Firstpage

34

Lastpage

45

Abstract

Our aim is to develop the service robot based on a systematic software engineering method, particularly for real-time, embedded and distributed systems with UML. To do so, we applied the COMET method, which is a UML-based method for the development of concurrent applications, specifically distributed and real-time applications. We describe our experience of applying the COMET/UML method to developing the service robot for the elderly, T-Rot, which is under development at CIR. Here, our emphasis was on an autonomous navigation system for the service robot, which is one of the most challenging issues and is essential in developing service robots, especially mobile service robots to help elderly people. It includes hardware integration for various sensors and actuators as well as software development and integration of modules like a path planner and a localizer.

Keywords

control engineering computing; geriatrics; mobile robots; robot programming; service robots; software architecture; COMET method; T-Rot; UML; actuators; autonomous navigation system; concurrent applications; distributed real-time applications; elderly people; localizer; path planner; robot software architecture; robotic aid systems; sensors; service robot; Actuators; Application software; Hardware; Navigation; Programming; Real time systems; Senior citizens; Service robots; Software engineering; Unified modeling language; Software engineering, service robots, object oriented methods, modeling;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2008.931636

Filename

4799445