Browse > Article
http://dx.doi.org/10.5391/IJFIS.2005.5.3.246

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)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.5, no.3, 2005 , pp. 246-252 More about this Journal
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.
Keywords
Mobile robot; intelligent space; position detection; spring model; Kalman filter;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 K.Yoshizawa, H.Hashimoto, M.Wada, and S.Mori, 'Path Tracking Control of Mobile Robots Using a Quadratic Curve,' Proc. of IEEE Intelligent Vehicles Symposium, 1996, pp.58-63
2 TaeSeok Jin, Kazuyuki Morioka, and Hideki Hashimoto, 'Appearance Based Object Identification for Mobile Robot Localization in Intelligent Space with Distributed Vision Sensors,' International Journal of Fuzzy Logic and Intelligent Systems, Vol. 4, No. 2, 2004, pp.165-171
3 Y.U.Cao, A.S.Fukunaga, and A.B.Kahmg, 'Cooperative Mobile Robotics,' Autonomous Robots, Vol. 4, 1997, pp.7-27   DOI   ScienceOn
4 Yutaka Kanayama, Yoshihiro Kimura, Fumio Miyazaki, and Tetsuo Noguchi, 'A Stable Tracking Control Method for a Non-Holonomic Mobile Robot,' Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991, pp.1236-1241
5 TaeSeok Jin, Hideki Hashimoto, 'Multi-Object Tracking using the Color-Based Particle Filter in ISpace with Distributed Sensor Network' International Journal of Fuzzy Logic and Intelligent Systems, Vol. 5, No. 1, 2005, pp.46-51   DOI   ScienceOn
6 J.P.Desai, J.Ostrowski, and V.Kumar, 'Controlling Formations of maltiple Mobile Robots,' IEEE Proceeding of Intl. Conf. Robotics and Automation, 1998, pp.2864-2869
7 J.-H. Lee, H.Hashimoto, 'Controlling Mobile Robots in Distributed Intelligent Sensor Network', IEEE Transactions on Industrial Electronics, Vol. 50, No. 5, 2003, pp.890-902   DOI   ScienceOn
8 G. Appenzeller, J.-H. Lee, and H.Hashimoto, 'Building Topological Maps by Looking at People: An Example of Cooperation between Intelligent Space and Robots,' IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'97), 1997, pp.1326-1333
9 Sung-On Lee, Hwang-Bo Myung, Bun-Jae You, Sang-RokOh, and Young-Jo Cho, 'Vision Based Mobile Robot Control for Target Tracking,' IFAC Workshop on Mobile Robot Technology, 2001, pp.73-78
10 J.-H. Lee, T. Yamaguchi and H. Hashimoto, 'Human Comprehension in Intelligent Space,' IFAC Conference on Mechatronic Systems, 2000, pp.1091-1096
11 Joo-Ho Lee, Noriaki Ando, and Hideki Hashimoto, 'Design Policy of Localization for Mobile Robots in General Environment,' Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999, pp.1733-1738   DOI
12 Joo-Ho Lee, Hideki Hashimoto, 'Intelligent Space,' Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, pp.1358-1363