ISSN:
1573-7527
Keywords:
autonomous systems
;
trajectory learning
;
teleoperation
;
robot control
;
service tasks
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract Our work addresses the problem of mobile robots control and programming. We present FIRST, a Friendly Interactive Robot for Service Tasks, designed to carry heavy loads in hospitals. A learning method is used to teach it the set of all the trajectories it has to follow. During the learning phase, a human operator teleoperates the robot while its sensors are activated. So the trajectory is built according to these data. The teleoperation is easy and accurate thanks to several locomotion modes of the robot, specially a crab mode. A “Learning Computer” helps the operator in any phase of the learning mode. As the missions feasibility must be assumed, each trajectory will be checked before used. Furthermore, any learned trajectory can be linked to a trajectory generated with the help of another method, provided that all files are of the same kind. Eventually, while performing the mission, the robot compares the measurements provided by the localization system and the learned points in order to ensure an accurate trajectory tracking.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00240652
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