Development of a multimode navigation system for an assistive robotics project

Andrea Cherubini (1) , G Oriolo (1) , F Macri (1) , F Aloise (2) , F Babiloni (3) , F Cincotti (2) , D Mattia (2)

1 Dipartimento di Informatica e Sistemistica [Rome]
2 Fondazione Santa Lucia [IRCCS]
3 Dept. Human Physiology

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.

Domaines: Robotique [cs.RO]

Andrea Cherubini, G Oriolo, F Macri, F Aloise, F Babiloni, et al.. Development of a multimode navigation system for an assistive robotics project. ICRA 2007 - IEEE International Conference on Robotics and Automation, Apr 2007, Rome, Italy. ⟨10.1109/ROBOT.2007.363668⟩. ⟨hal-01247253⟩