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Project Name and Acronym |
Home service robot system |
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Keywords |
Multi robot system, comunication, human-friendly interface |
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Partners (group name, category*) |
Laboratoire
Systems Complexes Centre d’Etudes Mecaniques d’Ile de France Universite d’Evry-Val
d’Essone 40 Rue du Pelvoux, 91020 Evry cedex, France |
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Objectives |
To develop a home robotic assistant for disabled and elderly people |
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Relevant activities |
We want use Human-friendly Man-Machine Interface for control of two or three mobile robots. The elderly of the disabled has serious problems in doing a certain work with their own effort so that some service robots system (mobile robot system) will be very helpful if it can do the work instead of the human. The robot system will be highly interactive to user and uses the user-friendly interface such as gesture, voice, movement and context. The representative man-machine interfaces for the elderly or the disabled in service robots system are vision based system, voice-based system. In the chosen application field, it is important to take into account the communication between the person and the multi robot system in both the psychological and the scientific aspects. In a first step, only the scientific aspect is foreseen, the psychological aspect will only slightly appear in several characteristics of the Generalised person to machine interface (GPMI). For its building, three points of view have been detected: user, installer/fitter, and researcher. In the user point of view, one has to consider the following constraints: - a friendly robot identification, - a tool allowing the choice of a pre-fitted mission, - with inherent parameters, - with parameters given by the person, - an interface for entering the mission, - based on a drawing tool, -
base on
menus, - a module giving to the person, under some verification, a direct control of the group of the robots. This direct intervention in the mission can be originated from the person but also be requested by an inability of the robots to perform the mission in certain spatio-temporal situations. - An explanation module. In the installer/fitter point of view, one has to consider the following constraints: - drawing the flat, - giving to the robot the competencies associated with their hardware and software equipment, - establishing the robot number, - testing the system according the pre-fitted missions, - installing the user’s guide. From a researcher point of view, one has to consider all the constraints listed above to which are added those giving access to the simulator functions. Our will to improve the GPMI versatility lead us to choose a PC for the GPMI hardware architecture and, for the software architecture, a multi-agent system. Among the agents are an internet Client/Server used in the communication between the GPMI and the robots, a fast Client/server used in the analysis of the user requests and the building of a mission. |
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Achieved biomedical robotic prototypes/ products |
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User/clinical trials |
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objectives |
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robotic systems |
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methodologies |
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involved users (number and category) |
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main results |
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clinical partners |
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other relevant information |
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Name |
Short description° |
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Group name |
Category* |
Contacts |
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Electronic laboratory |
AutoCAD2000, the PC card with signal processor (DSP) |
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Mechanical laboratory |
AutoCAD2000, Mechanical Desktop 4, |
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Software laboratory |
Linux, Corba, Visual C++ |
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Robotic equipment |
The experimental set-up with DSP cards, Two robots STÄUBLI RX60, The industrial robot Irp6, The Team of mobile robots for Robot Soccer |
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Other |
Vision System (CCD camera, the frame grabber Matrox Corona) |
§ _D.Dobroczyński, P.Dutkiewicz,
T. Jedwabny, K. Kozlowski, J. Majchrzak, G. Niwczyk, Mobile Robot Soccer ,Proceedings of the Sixth International
Conference on Methods and Models in Automation and Robotics, Międzyzdroje
2000, Poland, Vol. 2, pp. 599-605