모바일 매니퓰레이터의 엘리베이터 조작을 위한 HRI 시스템 구현

Abstract

Unlike conventional industrial robots that operate in a limited manufacturing environment, service robots should be able to operate in various environments. Where there are many complex high-rise buildings, service robots require the ability to ride and control elevators. Furthermore, a human-robot interaction (HRI) approach is critical because service robots have the characteristics of interacting directly with humans. Therefore, this paper proposes an HRI system that enables direct elevator button manipulation to enable mobile manipulator robots to perform tasks in various high-rise building environments. The system is divided into three subsystems: elevator button recognition, command reception through voice recognition, and elevator button operation. Elevator button recognition and command reception through voice recognition receive the required topics and communicate with the lower end of the elevator button operation. Although the three distinct substructures interact with each other and are independent, they can be replaced by different algorithms at any time. Because of the same characteristics, the system can be applied to various mobile manipulators with different specifications. The experiment proceeds with pressing the button on floors B1-4 through voice recognition in a simulation environment and pressing the button on floors 5-7 without voice recognition. The experimental results compared the central positions of the button and end effector’s x, y, and z coordinates after control. The system, verified through simulation, has since been applied to real robots.