Development of a multimode navigation system for an assistive robotics project

A. Cherubini; G. Oriolo; F. Macrì; F. Aloise; F. Babiloni; F. Cincotti; D. Mattia

doi:10.1109/ROBOT.2007.363668

Development of a multimode navigation system for an assistive robotics project

A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Babiloni, F. Cincotti, D. Mattia

Fondazione Santa Lucia

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Assistive technology is an emerging area where robotic devices can be used to strengthen the residual abilities of individuals with motor disabilities or to help them achieve independence in the activities of daily living. This paper deals with a project aimed at designing a system that provides remote control of home-installed appliances, including the Sony AIBO, a commercial mobile robot The development of the project is described by focusing on the design of the robot navigation system. Single step, semi-autonomous and autonomous operating modes have been realized to provide different levels of interaction with AIBO. Automatic collision avoidance is integrated in all cases. The performance of the navigation system is shown by experiments. Moreover, the system underwent clinical validation, in order to obtain a definitive assessment through patient feedback.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2336-2342
Number of pages	7
DOIs	https://doi.org/10.1109/ROBOT.2007.363668
Publication status	Published - 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Control and Systems Engineering

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Cite this

Cherubini, A, Oriolo, G, Macrì, F, Aloise, F, Babiloni, F, Cincotti, F & Mattia, D 2007, Development of a multimode navigation system for an assistive robotics project. in Proceedings - IEEE International Conference on Robotics and Automation., 4209432, pp. 2336-2342, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.363668

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AU - Babiloni, F.

AU - Cincotti, F.

AU - Mattia, D.

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