Development of a user-following mobile robot with a stand-up assistance function

摘要

In this paper, a user-following mobile robot which tracks and follows the user, offering stand-up assistance function is proposed. The proposed robot plays the role of a chair where the user can sit on, and offers a stand-up assistance function compensating the lack of muscle strength. In the proposed robot, a sensing method for buttocks recognition using a depth sensor is proposed. By measuring the distance from the user’s buttocks, the walking state is recognized and the tracking is performed at a fixed distance. As an approach to realize the tracking function, a human tracking method for mobile robots using PD control is constructed. According experimental study, usefulness of the proposed mobile robot with the function of user-following and stand-up assistance is confirmed. The user recognition method and the tracking method using PD control are confirmed effective. With the proposed robot system, improvement in welfare field can be expected.