TY - JOUR
T1 - Service robot system with an informationally structured environment
AU - Pyo, Yoonseok
AU - Nakashima, Kouhei
AU - Kuwahata, Shunya
AU - Kurazume, Ryo
AU - Tsuji, Tokuo
AU - Morooka, Ken'ichi
AU - Hasegawa, Tsutomu
N1 - Funding Information:
This research is supported in part by a JSPS KAKENHI Grant Number 263244 , a Grant-in-Aid for Scientific Research (A) ( 26249029 ) and the Japan Science and Technology Agency (JST) through its “Center of Innovation Science and Technology based Radical Innovation and Entrepreneurship Program (COI Program).” We would like to thank all members of the ROS community and ROS development teams at Open Source Robotics Foundation. Yoonseok Pyo received his B.E. degree from the Electronics & Information Engineering, Kwangwoon University, in 2009. He worked as a research fellow of Korea Institute of Science and Technology (KIST) from 2009 to 2010. His M.S. degree was from the Graduate School of Information Science and Electrical Engineering, Kyushu University, in 2013. He is a research fellow of the Japan Society for the Promotion of Science. He is currently working on the extension of distributed sensor and service robot platform as a Ph.D. student of the Graduate School of Information Science and Electrical Engineering, Kyushu University. Kouhei Nakashima received his B.E. degree from the Graduate School of Information Science and Electrical Engineering, Kyushu University, in 2012. He is currently a M.S. student of the Graduate School of Information Science and Electrical Engineering, Kyushu University. His research interests include motion planning and software platform of robotic systems. Shunya Kuwahata received his B.E. degree from the Graduate School of Information Science and Electrical Engineering, Kyushu University, in 2012. He is currently working on the extension of vision application using RGB-D camera as a M.S. student of the Graduate School of Information Science and Electrical Engineering, Kyushu University. Ryo Kurazume received his M.E. and B.E. degrees from the Department of Mechanical Engineering Science, Tokyo Institute of Technology, in 1991 and 1989, respectively. His Ph.D. degree was from the Department of Mechanical Engineering Science, Tokyo Institute of Technology, in 1998. He is a professor at the Graduate School of Information Science and Electrical Engineering, Kyushu University. His current research interests include multiple mobile robots, 3D modeling, manipulator, walking robots, and medical image analysis. Tokuo Tsuji received his B.S., M.S., and Doctoral degrees from Kyushu University in 2000, 2002 and 2005, respectively. He worked as a Research Fellow of Graduate School of Engineering, Hiroshima University from 2005 to 2008. He worked as a Research Fellow of Intelligent Systems Research Institute of National Institute of Advanced Industrial Science and Technology (AIST) from 2008 to 2011. From 2011, he has been working as a Research Associate at Kyushu University. His research interests include multi-fingered hand, machine vision, and software platform of robotic systems. He is a member of IEEE, JSME, RSJ, and IEICE. Ken’ichi Morooka received his M.S. and Ph.D. degrees from the Graduate School of Information Science and Electrical Engineering, Kyushu University, in 1997 and 2000, respectively. He was associated with Institute of Systems & Information Technologies/KYUSHU. From 2000 to 2006, he was Research Associate at Imaging Science and Engineering Laboratory, Tokyo Institute of Technology. From 2006 to 2010, he was Associate Professor in Digital Medicine Initiative, Kyushu University, Japan. Currently, he is Associate Professor in Graduate School of Information Science and Electrical Engineering, Kyushu University, Japan. His research interests cover medical imaging, computer graphics, and pattern recognition. Tsutomu Hasegawa received his B.E. degree in Electronic Engineering and his Ph.D. degree both from the Tokyo Institute of Technology, in 1973 and 1987, respectively. He was associated with the Electrotechnical Laboratory of the Japanese Government from 1973 to 1992, where he performed research in robotics. From 1981 to 1982, he was a Visiting Researcher at the Laboratoire d’Automatique et d’Analyses des Systemes (LAAS/CNRS), Toulouse, France. From 1992 to 2013, he was a Professor with the Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University. He is currently Director of Kumamoto National College of Technology. His research interests are in manipulator control, geometric modeling and reasoning, motion planning, and man–machine interaction. He received the Franklin V. Taylor Memorial Award from the IEEE Systems, Man and Cybernetics Society in 1999, and the 2013 JSME Medal for Distinguished Engineers in 2014.
Publisher Copyright:
© 2015 The Authors
PY - 2015/12
Y1 - 2015/12
N2 - Daily life assistance is one of the most important applications for service robots. For comfortable assistance, service robots must recognize the surrounding conditions correctly, including human motion, the position of objects, and obstacles. However, since the everyday environment is complex and unpredictable, it is almost impossible to sense all of the necessary information using only a robot and sensors attached to it. In order to realize a service robot for daily life assistance, we have been developing an informationally structured environment using distributed sensors embedded in the environment. The present paper introduces a service robot system with an informationally structured environment referred to the ROS–TMS. This system enables the integration of various data from distributed sensors, as well as storage of these data in an on-line database and the planning of the service motion of a robot using real-time information about the surroundings. In addition, we discuss experiments such as detection and fetch-and-give tasks using the developed real environment and robot.
AB - Daily life assistance is one of the most important applications for service robots. For comfortable assistance, service robots must recognize the surrounding conditions correctly, including human motion, the position of objects, and obstacles. However, since the everyday environment is complex and unpredictable, it is almost impossible to sense all of the necessary information using only a robot and sensors attached to it. In order to realize a service robot for daily life assistance, we have been developing an informationally structured environment using distributed sensors embedded in the environment. The present paper introduces a service robot system with an informationally structured environment referred to the ROS–TMS. This system enables the integration of various data from distributed sensors, as well as storage of these data in an on-line database and the planning of the service motion of a robot using real-time information about the surroundings. In addition, we discuss experiments such as detection and fetch-and-give tasks using the developed real environment and robot.
KW - Distributed sensor
KW - Informationally structured environment
KW - Intelligent space
KW - Motion planning
KW - Robot operating system
KW - Service robot
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U2 - 10.1016/j.robot.2015.07.010
DO - 10.1016/j.robot.2015.07.010
M3 - Article
AN - SCOPUS:84938272225
SN - 0921-8890
VL - 74
SP - 148
EP - 165
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
ER -