Proceedings of the Korean Society of Broadcast Engineers Conference (한국방송∙미디어공학회:학술대회논문집)
- 2009.01a
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- Pages.808-811
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- 2009
Implementation of Adaptive Movement Control for Waiter Robot using Visual Information
- Nakazawa, Minoru (Information Technological Frontier Laboratory Kanazawa Institute of Technology) ;
- Guo, Qinglian (Information Technological Frontier Laboratory Kanazawa Institute of Technology) ;
- Nagase, Hiroshi (Information Technological Frontier Laboratory Kanazawa Institute of Technology)
- Published : 2009.01.12
Abstract
Robovie-R2 [1], developed by ATR, is a 110cm high, 60kg weight, two wheel drive, human like robot. It has two arms with dynamic fingers. It also has a position sensitive detector sensor and two cameras as eyes on his head for recognizing his surrounding environment. Recent years, we have carried out a project to integrate new functions into Robovie-R2 so as to make it possible to be used in a dining room in healthcare center for helping serving meal for elderly. As a new function, we have developed software system for adaptive movement control of Robovie-R2 that is primary important since a robot that cannot autonomously control its movement would be a dangerous object to the people in dining room. We used the cameras on Robovie-R2's head to catch environment images, applied our original algorithm for recognizing obstacles such as furniture or people, so as to control Roboie-R2's movement. In this paper, we will focus our algorithm and its results.
Keywords
- Adaptive motion control;
- Server-robot;
- Computer vision;
- Image processing;
- Digital images;
- 3D Graphical data