Wheelchair support by a humanoid through integrating environment recognition, whole-body control and human-interface behind the user

Author

Nozawa, Shunichi ; Maki, Toshiaki ; Kojima, Mitsuharu ; Kanzaki, Shigeru ; Okada, Kei ; Inaba, Masayuki

Author_Institution

Dept. of Mechano-Inf., Univ. of Tokyo, Tokyo

fYear

2008

fDate

22-26 Sept. 2008

Firstpage

1558

Lastpage

1563

Abstract

In this paper, we treat with wheelchair support by a life-sized humanoid robot. It is quite essential to integrate whole-body motion, recognition of environment and human-interface behind the user in order to achieve this task. Contributions of this paper is whole-body control including pushing motion using the offset of the ZMP and observation of the attitude outlier, recognition of the wheelchair using particle filter and human-interface behind the person using face detection and recognition of gesture.

Keywords

face recognition; gesture recognition; humanoid robots; medical robotics; mobile robots; motion control; particle filtering (numerical methods); wheelchairs; ZMP; environment recognition; face detection; gesture recognition; human-interface; humanoid robot; particle filter; pushing motion control; wheelchair support; whole-body control; Face; Legged locomotion; Mobile robots; Robot kinematics; Robot sensing systems; Robots; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on

Conference_Location

Nice

Print_ISBN

978-1-4244-2057-5

Type

conf

DOI

10.1109/IROS.2008.4650903

Filename

4650903