Abstract
This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 1-17 |
| Number of pages | 17 |
| Journal | Autonomous Robots |
| Volume | 22 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2007 Jan |
Bibliographical note
Funding Information:Acknowledgment This research was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Korean Ministry of Commerce, Industry, and Energy. The authors acknowledge Hyundai Heavy Industries Co., Ltd. and JoyMecha Co., Ltd. for prototyping the PSR systems. The authors would like to express gratitude to Dr. Kurt Konolige at the SRI for fruitful discussions.
Keywords
- Control architecture
- Door opening control
- Localization
- Mobile manipulators
- Mobile robot navigation
- Passive trailers
- Petri nets
- Service robots
- System integration
ASJC Scopus subject areas
- Artificial Intelligence