Alan Bowling
ABSTRACT
In this work it is assumed that some interaction must occur when introducing robots into an environment for the purpose of assisting humans. This interaction may take several forms, but the one considered here is following, which means the robot(s) should follow the human. The robot should maintain some distance but keep him/her in its line of sight to prevent losing the target. In a human environment, this is a challenging task due to the corners or doorways that a human may disappear through or around. Here, the task of maintaining a line of sight to the human while turning a corner is modeled as a rotation of the human-robot team, in order to determine the performance requirements for the robots. The development of a description for a team rotation is the key element in the proposed work. The methodology is illustrated using omnidirectional robots with mass, inertia, and actuator limitations.
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Index Terms
- Human-robot team dynamic performance in assisted living environments
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