TY - GEN
T1 - A Preliminary Study of a Control Framework for Forearm Contact during Robot Navigation
AU - Shrestha, Moondeep C.
AU - Tsuburaya, Yusuke
AU - Onishi, Tomoya
AU - Kobayashi, Ayano
AU - Kono, Ryosuke
AU - Kamezaki, Mitsuhiro
AU - Sugano, Shigeki
N1 - Funding Information:
This research was partially supported by the JSPS KA-KENHI Grant Number 26870656, JST PRESTO, Research Institute for Science and Engineering of Waseda University, and the Program for Leading Graduate Schools, MEXT.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/6
Y1 - 2018/11/6
N2 - Efficient navigation in a congested environment is immensely difficult for the current state-of-the-art mobile robots owing to the challenges related to both sensing and actuation. Consequently, conventional approaches in mobile robotics research prioritize safety by slowing down or stopping robot's movement under challenging circumstances. This paper considers an alternative approach in which the robot utilizes forearm contact to create space for itself and to act as a safety buffer, during very close or congested navigation interactions. First, two categories of contact methods are defined based on different navigation scenarios. These contact methods are analyzed through different contact positions and force directions in a set of comparative experiments. The results of the comparative experiments are then incorporated into a contact-based framework that outputs the necessity, and the appropriate form of forearm contact. Finally, a set of evaluation experiments are performed to test the usability and effectiveness of the constructed framework. The results indicate that the proposed framework effectively outputs appropriate contact according to the situation, and aids the robot while navigating through space-constrained scenarios.
AB - Efficient navigation in a congested environment is immensely difficult for the current state-of-the-art mobile robots owing to the challenges related to both sensing and actuation. Consequently, conventional approaches in mobile robotics research prioritize safety by slowing down or stopping robot's movement under challenging circumstances. This paper considers an alternative approach in which the robot utilizes forearm contact to create space for itself and to act as a safety buffer, during very close or congested navigation interactions. First, two categories of contact methods are defined based on different navigation scenarios. These contact methods are analyzed through different contact positions and force directions in a set of comparative experiments. The results of the comparative experiments are then incorporated into a contact-based framework that outputs the necessity, and the appropriate form of forearm contact. Finally, a set of evaluation experiments are performed to test the usability and effectiveness of the constructed framework. The results indicate that the proposed framework effectively outputs appropriate contact according to the situation, and aids the robot while navigating through space-constrained scenarios.
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U2 - 10.1109/ROMAN.2018.8525611
DO - 10.1109/ROMAN.2018.8525611
M3 - Conference contribution
AN - SCOPUS:85058072191
T3 - RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
SP - 410
EP - 415
BT - RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
Y2 - 27 August 2018 through 31 August 2018
ER -
