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Motion Coordination between a Human and a Robotic Wheelchair in a Crowded, Public Environment

Bewegungskoordination zwischen einem Mensch und einem intelligenten Rollstuhl in einer belebten öffentlichen Umgebung
 
: Prassler, E.; Bank, D.; Kluge, B.

IEEE Robotics and Automation Society:
Workshop Notes on Robotic and Automation Tools for Specific Human Assistance Tasks : 2001 IEEE International Conference on Robotics and Automation, Session: W3, May 22, Seoul, Korea
Seoul, 2001
S.79-91
International Conference on Robotics and Automation (ICRA) <2001, Seoul>
Englisch
Konferenzbeitrag
Fraunhofer IPA ()
MORPHA; robot assistant; Roboterassistent; service robot; Serviceroboter; rehabilitation robotics; Pflegeroboter; wheelchair; Rollstuhl; Mensch-Maschine-Interaktion; robot human interaction; robot motion planning; Bewegungsplanung; motion coordination; Bewegungskoordination; Roboter

Abstract
In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing, natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. In healthcare and rehabilitation scenarios this addresses a rather important issue. Pushing and maneuvering a carriage such as a wheelchair or a hospital bed, exposes the back of the pushing person to extreme significant often resulting in severe long-term back problems. Our approach is based on a method
for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot's heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.

: http://publica.fraunhofer.de/dokumente/N-7093.html