A Preliminary Study of a Control Framework for Forearm Contact during Robot Navigation

Moondeep Chandra Shrestha, Yusuke Tsuburaya, Tomoya Onishi, Ayano Kobayashi, Ryosuke Kono, Mitsuhiro Kamezaki, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationRO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages410-415
Number of pages6
ISBN (Electronic)9781538679807
DOIs
Publication statusPublished - 2018 Nov 6
Event27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018 - Nanjing, China
Duration: 2018 Aug 272018 Aug 31

Other

Other27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
CountryChina
CityNanjing
Period18/8/2718/8/31

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Cognitive Neuroscience
  • Communication
  • Artificial Intelligence

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  • Cite this

    Shrestha, M. C., Tsuburaya, Y., Onishi, T., Kobayashi, A., Kono, R., Kamezaki, M., & Sugano, S. (2018). A Preliminary Study of a Control Framework for Forearm Contact during Robot Navigation. In RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication (pp. 410-415). [8525611] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.2018.8525611