By Yoshihiko Takahashi (Editor)
ISBN-10: 9537619001
ISBN-13: 9789537619008
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Additional resources for Service Robot Applications
Example text
Such a computational architecture increases the weight, cost and power consumption of the robotic wheelchair. Therefore, a chip based solution is discussed in this chapter to improve the feasibility of the robotic wheelchairs. Two important issues are proposed: 1. Human-centered design for mobility assistive robots: the conventional robotic wheelchair constructs the autonomous navigation technologies, and the user may drive the robotic wheelchair without using his (her) hand. Such an autonomous operation is not feasible when complicated environment presents.
2 State of the art In recent years, several robotic wheelchair projects and literatures were proposed. Their system focused on the autonomy, intelligence, safety, and navigation of robotic wheelchairs. , 2001). The software architecture of VAHM robotic wheelchair is categorized as the physical, local and global levels. In the local level, the freespace detection, wall detection, and localization are implemented as the perception controller; the freespace search, direction following, wall following, path planning, motion control, obstacle avoidance are implemented as the navigation controller; and finally, the man-machine interface and command interpretation are implemented as the communication controller.
2001). A reliable gait phase detection system. IEEE Trans. Neural Sys. Rehabil. , & Bongard, J. C. How the Body Shapes the Way We Think: a New View of Intelligence (Bradford Books). , Lungarella, M. and Iida, F. (2007). Self-organization, embodiment, and biologically inspired robotics. Science, 318: 1088–1093. Pfeiffer, E. A. (1968). Electrical stimulation of sensory nerves with skin electrodes for research, diagnosis, communication and behavioral conditioning: a survey. Med. Biol. H. (1998). Basic requirements for upper extremity prostheses: the wilmer approach.
Service Robot Applications by Yoshihiko Takahashi (Editor)
by Paul
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