Daily life assistance is one of the most important applications for service robots. For comfortable assistance, robots must recognize surrounding conditions correctly, including human motion, position objects, and obstacles. However, since everyday environment complex unpredictable, it almost impossible to sense all necessary information using only a robot sensors attached it. In order realize daily we have been developing an informationally structured distributed embedded in environment....

This paper describes a new method of measuring the position everyday objects and robot on floor using distance reflectance acquired by laser range finder (LRF). The information obtained this is important for service working in human daily life environment. Our uses only one LRF together with mirror installed wall. Moreover, since area sensing limited to scanning plane parallel just few centimeters above floor, covers whole room minimal invasion privacy resident, occlusion problem mitigated...

An informationally structured environment (ISE) is a key technology for realizing service robots in daily life the near future. In ISE, information of robot and its surroundings provided to on time demand. We started development management system ISE named TMS (Town Management System) Robot Town Project 2005. Since then we are continuing our efforts improvement performance enhancement functions TMS. this paper, propose latest ROS-TMS 5.0, which adopts ROS utilize high scalability rich...

The application of assistive technologies for elderly people is one the most promising and interesting scenarios intelligent in present near future. Moreover, improvement quality life first priorities modern countries societies. In this work, we an informationally structured room that aimed at supporting daily activities people. This integrates different sensor modalities a natural non-invasive way inside environment. information gathered by sensors processed sent to centralized management...

This paper proposes new software and hardware platforms named ROS-TMS Big Sensor Box, respectively, for an informationally structured environment. We started the development of a management system environment Town Management System (TMS) in Robot Project 2005. Since then we have been continuing our efforts to improve performance enhance TMS functions. Recently, launched version ROS-TMS, which resolves some critical problems by adopting Operating (ROS) utilizing high scalability numerous...

Daily life assistance for elderly individuals in hospitals and care facilities is one of the most urgent promising applications service robots. Especially, a fetch-and-give task frequent fundamental robots to assist elderlys daily life. In facilities, this often performed with movable platform such as wagon or cart carry deliver large amount objects at once. Thus navigation control not only robot but also must be planned safely. addition, motion planning hand over an object person safely...

This paper presents a new immersive VR interface bridging cyber and physical worlds for Cyber Physical System (CPS). Informationally structured environment (ISE) has been proposed in service robotics so far. In ISE, environmental information such as positions of objects, furniture, humans, robots is gathered by embedded sensor networks stored database structurally. A robot able to utilize these anytime anywhere connecting the network. this paper, we introduce ISE architecture named ROS-TMS...

This paper presents a high-precision three-dimensional laser measurement system of an architectural structure by cooperative multiple mobile robots. is composed three robots, that is, parent robot and two child The equipped with scanner, attitude sensor, total station, auto-leveling device. On the other hand, robots are six corner mirrors. moves stops repeatedly, measures shape using scanner at several positions. Meanwhile, also move stop alternately, act as landmarks for positioning robot....

This paper proposes a new concept named "fourth-person sensing" for service robot. The proposed combines wearable sensors (the first-person viewpoint), mounted on robots second-person and embedded in the environment third-person disadvantages individual are compensated by combining sensory information from first, second, viewpoints. fourth-person sensing is effective to understand user's intention context of scene, thus it enables provide proper As one applications sensing, we develop HCI...

This paper describes a method of measurement and estimation human behaviors in room together with the layout objects on floor. The information obtained by is essential for service robot working daily life environment. uses only one laser range finder (LRF) installed strip mirror attached to side wall close area sensing limited plane parallel just few centimeters above floor, thus covering whole minimal invasion privacy resident while reducing occlusion. Processing both distance reflectance...

In this paper, we present a control architecture that enables service drone to navigate in an informationally structured environment (ISE) and accomplish specific task autonomously based on the ROS-TMS framework. The is ROS-based distributed information management system for ISE. It manages variety of subsystems ranging from sensing by sensors motion planning behavior robots. proposed designed as component ROS-TMS, consists navigation solves path ISE flight behavior-based finite state...

This paper proposes new software and hardware platforms for an informationally structured environment named ROS-TMS Big Sensor Box. We started the development of a management system TMS (Town Management System) in Robot Town Project 2005. Since then we are continuing our efforts improvement performance enhancement functions TMS. Recently, launched version ROS-TMS, which resolves some critical problems by adopting ROS (Robot Operating utilizing high scalability plenty resources ROS. In this...

Service robots, which co-exist with humans to provide various services, obtain information from sensors placed in an environment and/or mounted on robots. In this paper we newly propose the concept of fourth-person sensing combines wearable cameras (first-person sensing), robots (second-person and distributed (third-person sensing). The proposed takes advantages all three systems, while removing disadvantage each them. first-person can analyze what a person wearing camera is doing details...

This paper presents a new immersive interface connecting cyber and physical worlds for Cyber Physical System (CPS). Informationaly structured environment (ISE) in which environmental information is gathered by embedded sensor networks stored database structurally one of key technologies developing practical service robot. We have been ISE architecture called ROS-TMS. In this paper, we introduce cyber-physical ROS-TMS consisting an wearable display, stereo camera, tracking system, simulator,...

This paper presents a new human-robot interface for the informationally structured environment consisting of an immersive VR display (Oculus Rift DK2), stereo camera (Ovrvision), optical tracking system (Bonita, Vicon) and environmental simulator (Choreonoid).

This paper introduces an information processing architecture named ROS-TMS for informationally structured environment. enables to handle several practical service tasks such as state estimation in a room using accumulated database, and automatic planning execution suitable tasks. As application of the proposed ROS-TMS, we present emergency detection alert system distributed sensors robot.

This paper proposes a new concept of "fourth-person sensing" for service robots. The proposed combines wearable cameras (the first-person viewpoint), sensors mounted on robots second-person viewpoint) and embedded in the informationally structured environment third-person viewpoint). Each sensor has its advantage disadvantage, while can compensate disadvantages by combining advantages all sensors. be used to understand user's intention context scene with high accuracy, thus it enables...

This paper presents a framework of task management system for the informationally structured architecture, ROS-TAM, and information experiments using different types robots service tasks. The proposed interprets user's request, plans proper robot service, issues series commands suitable structure each robot, executes by executing machine, SMACH. We conducted go-and-fetch with two robots.

This paper proposes a small, lightweight, and easily-relocated sensor terminal named "Portable" for acquiring variety of environmental information. The Portable is equipped with sensors including pyroelectric sensor, proximity sound pressure thermometer, hygrometer, gas flame laser range finder. We introduce three typical applications: abnormality detection, pedestrian tracking automatic reconfiguration several Portables tracking.

We aim to develop a multi-fingered hand which grasps various objects. finger equipped with soft fingertip and two layers nails. The first layer of the nails is thin long. It possible insert it into bottom object. second thick short. supports elastic force fingertip. planner for selecting grasp style according height can low object by using hand. demonstrate feasibility proposed method simulation. In addition, shown that developed objects through experimental results.

This paper describes a method of measuring moving objects and estimating human behaviors in room using only one laser range finder (LRF) installed the strip mirror attached to side wall close floor. The area sensing is limited plane parallel just few centimeters above floor, thus covering whole with minimal invasion privacy resident while reducing occlusion. important feature measurement consists processing both distance reflectance acquired by LRF from surface existing objects. enables...

We developed a service robot that picks up everyday objects. The is equipped with small manipulator and Kinect sensor. A role of the to collect objects which lie scattered on floor room before cleaning (Roomba) works. uses not only sensor mounted it but also one laser range finder (LRF) installed in room. By this, can find move grasping point efficiently.