Design and fabrication of an autonomous multifunctional robot for disabled people

Abstract

This paper describes the development of a mobile autonomous assistive robot for disabled people with locomotor impairments. In this the problem of retrieving objects from various locations in a closed environment is addressed. This requires solutions to four different problems; acquiring input from the user, navigating to the target location, correctly identifying and gripping the desired object and finally returning the object to the user. To complete the required objectives, the system utilizes speech recognition, real time obstacle avoidance and localization, image processing and a robotic manipulator. The following methodology is used; a speech input that defines the desired object taken via an Android App. A controller which computes the target and robot location using a path tracking system. Image processing is utilized to identify the desired object. The robotic manipulator grips the object and finally the robot returns to the user. The result is a system with an easy to use interface, which disabled people can employ to carry out routine activates effectively.