Design Issues of a Semi-Autonomous Robotic Assistant for the Health Care Environment |
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Authors: | E Ettelt R Furtwängler U D Hanebeck G Schmidt |
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Affiliation: | (1) Institute of Automatic Control Engineering (LSR), Technische Universität München, 80290 München, Germany |
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Abstract: | This paper discusses design issues of a mobile robotic assistant for health or home care applications with the objective of relieving hospital personnel or domestic users of time-consuming routine tasks. These tasks are delegated to the robot via natural language and in turn autonomously executed. With respect to the execution of typical fetch-and-carry tasks, key components are surveyed and a system architecture for integration of the individual hardware and software modules into a service robot is presented. A prototype implementation is described and used for demonstrating the performance of the proposed design approach in real-world service scenarios. |
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Keywords: | robotic assistant mobile service robot health care fetch-and-carry task mobile manipulation human-robot interface augmented virtual workspace |
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