International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Human Centered Robot for Mutual Interaction in Intelligent Space

  • Jin Tae-Seok (Institute of Industrial Science, University of Tokyo) ;
  • Hashimoto Hideki (Institute of Industrial Science, University of Tokyo)
  • Published : 2005.09.01
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Abstract

Intelligent Space is a space where many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents, which provide human with services. To realize this, human and mobile robots have to approach each other as much as possible. Moreover, it is necessary for them to perform interactions naturally. It is desirable for a mobile robot to carry out human affinitive movement. In this research, a mobile robot is controlled by the Intelligent Space through its resources. The mobile robot is controlled to follow walking human as stably and precisely as possible. In order to follow a human, control law is derived from the assumption that a human and a mobile robot are connected with a virtual spring model. Input velocity to a mobile robot is generated on the basis of the elastic force from the virtual spring in this model. And its performance is verified by the computer simulation and the experiment.

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References

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  1. Human Hierarchical Behavior Based Mobile Agent Control in Intelligent Space with Distributed Sensors vol.11, pp.12, 2005, https://doi.org/10.5302/J.ICROS.2005.11.12.984