Title :
ROMAN: a mobile robotic assistant for indoor service applications
Author :
Hanebeck, U.D. ; Fischer, C. ; Schmidt, G.
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Abstract :
The paper describes design issues of a mobile service robot for health care applications and domestic automation. Key components required for achieving semi-autonomous operation are surveyed, including: 1. a highly maneuverable locomotion platform, 2. an anthropomorphous manipulator, 3. a reliable multisensor system, and a 4. multimodal human-robot-interface. In addition, related information processing and control methodologies are presented. Special emphasis is put on a system architecture for integration of the individual components into a full-size service robot. Performance and usefulness of the proposed approaches are demonstrated through experiments in various real-world service scenarios
Keywords :
health care; home automation; mobile robots; sensors; user interfaces; ROMAN; anthropomorphous manipulator; domestic automation; health care applications; indoor service applications; maneuverable locomotion platform; mobile robotic assistant; mobile service robot; multimodal human-robot-interface; reliable multisensor system; semi-autonomous operation; Anthropomorphism; Automatic control; Design automation; Information processing; Manipulators; Medical services; Mobile robots; Multisensor systems; Robotics and automation; Service robots;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.655061