THE DESIGN OF A MODULAR MOBILE ROBOT FOR VISION BASED HUMAN ROBOT INTERACTION RESEARCH

摘要

This paper presents the design of a mobile robot used for a research of robot human interaction. The communication is achieved via visual information. For this purpose two cameras are mounted on a robot in such a way that pan/tilt rotation is possible. Such a setup resembles a human head and can give some feedback to a human with the movement of the head. For the control and communication purposes a Raspberry Pi computer was used as it is inexpensive but highly capable open platform. The camera and robot movements are accessible through a web user interface designed on a modified PiBorg code. Throughout the design process the main emphasis was on the low cost and high modularity of the mobile process, so that it can be easily used for other applications as well.