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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2336-2342
Number of pages7
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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