Mobile Robot Command by Man-Machine Co-Operation - Application to Disabled and Elderly People Assistance

Disabled people assistance is developing thanks to progress of new technologies. A manipulator arm mounted on a mobile robot can assist the disabled person for the partial restoration of the manipulative function. User pilots the robot via a control station using enhanced reality techniques. To be affordable such a system must be cost effective. That constraint limits perception means: ultrasonic ring, dead reckoning and low cost camera. The development of the project has followed two stages. The first one consists of giving maximum autonomy capacities to the robot for planning, navigation and localisation. The second stage is the study of the Man-Machine Co-operation (MMC) for the command of the robot system. Indeed, the aim is to perform a mission (mobile robot displacement) using robot capacities and man possibilities. Users build their own strategies to carry out successively a mission. Strategy can be seen as a succession of control modes, which can be manual, automatic or shared...

• Type: Journal
• Year: 2002
• Where: JIRS
• Authors: Philippe Hoppenot, Etienne Colle
• Keywords: Disabled People, JIRS 2002, Mobile Robot, Robot