A multimode navigation system for an assistive robotics project

Andrea Cherubini, Giuseppe Oriolo, Francesco MacRí, Fabio Aloise, Febo Cincotti, Donatella Mattia

Research output: Contribution to journalArticlepeer-review

Abstract

Assistive technology is an emerging area, where robotic devices can help individuals with motor disabilities to achieve independence in daily activities. This paper deals with a system that provides remote control of Sony AIBO, a commercial mobile robot, within the assistive project ASPICE. The robot can be controlled by various input devices, including a Brain-Computer Interface. AIBO has been chosen for its friendly-looking aspect, in order to ease interaction with the patients. The development of the project is described by focusing on the design of the robot navigation system. Single step, semi-autonomous and autonomous navigation modes have been realized to provide different levels of control. Automatic collision avoidance is integrated in all cases. Other features of the system, such as the video feedback from the robotic platform to the user, and the use of AIBO as communication aid, are briefly described. The performance of the navigation system is shown by simulations as well as experiments. The system has been clinically validated, in order to obtain a definitive assessment through patient feedback.

Original languageEnglish
Pages (from-to)383-404
Number of pages22
JournalAutonomous Robots
Volume25
Issue number4
DOIs
Publication statusPublished - Nov 2008

Keywords

  • Assistive robotics
  • Brain-computer interfaces
  • Legged robots
  • Vision-based navigation

ASJC Scopus subject areas

  • Artificial Intelligence

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