A mobile robot for transport applications in hospital domain with safe human detection algorithm

Masaki Takahashi; Takafumi Suzuki; Francesco Cinquegrani; Rosario Sorbello; Enrico Pagello

doi:10.1109/ROBIO.2009.5420402

A mobile robot for transport applications in hospital domain with safe human detection algorithm

Masaki Takahashi, Takafumi Suzuki, Francesco Cinquegrani, Rosario Sorbello, Enrico Pagello

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

18 Citations (Scopus)

Abstract

We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement technology. The robot can distinguish people from others obstacles with human detection algorithm. The robot evades to people more safely by considering its relative position and velocity with respect to them. Some experiments in a hospital were carried out to verify the performance of the human detection algorithm. Moreover, the simulation results have confirmed that the robot can reach the goal without colliding with static and dynamic obstacles.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	1543-1548
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420402
Publication status	Published - 2009 Dec 1
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 2009 Dec 19 → 2009 Dec 23

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	09/12/19 → 09/12/23

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Human-Computer Interaction
Biomaterials

Access to Document

10.1109/ROBIO.2009.5420402

Cite this

Takahashi, M., Suzuki, T., Cinquegrani, F., Sorbello, R., & Pagello, E. (2009). A mobile robot for transport applications in hospital domain with safe human detection algorithm. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 1543-1548). [5420402] (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420402

A mobile robot for transport applications in hospital domain with safe human detection algorithm. / Takahashi, Masaki; Suzuki, Takafumi; Cinquegrani, Francesco et al.

2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 1543-1548 5420402 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takahashi, M, Suzuki, T, Cinquegrani, F, Sorbello, R & Pagello, E 2009, A mobile robot for transport applications in hospital domain with safe human detection algorithm. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420402, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1543-1548, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 09/12/19. https://doi.org/10.1109/ROBIO.2009.5420402

Takahashi M, Suzuki T, Cinquegrani F, Sorbello R, Pagello E. A mobile robot for transport applications in hospital domain with safe human detection algorithm. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 1543-1548. 5420402. (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). doi: 10.1109/ROBIO.2009.5420402

@inproceedings{cc578cd386924e4da4cb958150938ece,

title = "A mobile robot for transport applications in hospital domain with safe human detection algorithm",

abstract = "We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement technology. The robot can distinguish people from others obstacles with human detection algorithm. The robot evades to people more safely by considering its relative position and velocity with respect to them. Some experiments in a hospital were carried out to verify the performance of the human detection algorithm. Moreover, the simulation results have confirmed that the robot can reach the goal without colliding with static and dynamic obstacles.",

author = "Masaki Takahashi and Takafumi Suzuki and Francesco Cinquegrani and Rosario Sorbello and Enrico Pagello",

year = "2009",

month = dec,

day = "1",

doi = "10.1109/ROBIO.2009.5420402",

language = "English",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "1543--1548",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

TY - GEN

T1 - A mobile robot for transport applications in hospital domain with safe human detection algorithm

AU - Takahashi, Masaki

AU - Suzuki, Takafumi

AU - Cinquegrani, Francesco

AU - Sorbello, Rosario

AU - Pagello, Enrico

PY - 2009/12/1

Y1 - 2009/12/1

N2 - We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement technology. The robot can distinguish people from others obstacles with human detection algorithm. The robot evades to people more safely by considering its relative position and velocity with respect to them. Some experiments in a hospital were carried out to verify the performance of the human detection algorithm. Moreover, the simulation results have confirmed that the robot can reach the goal without colliding with static and dynamic obstacles.

AB - We have been developing a MKR (Muratec Keio Robot), an autonomous omni-directional mobile transfer robot system for hospital applications. This robot has a wagon truck to transfer luggage, important specimens and other materials. This study proposes a safe obstacle collision avoidance technique that includes a human detection algorithm for omni directional mobile robots that realizes a safe movement technology. The robot can distinguish people from others obstacles with human detection algorithm. The robot evades to people more safely by considering its relative position and velocity with respect to them. Some experiments in a hospital were carried out to verify the performance of the human detection algorithm. Moreover, the simulation results have confirmed that the robot can reach the goal without colliding with static and dynamic obstacles.

UR - http://www.scopus.com/inward/record.url?scp=77951453676&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951453676&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2009.5420402

DO - 10.1109/ROBIO.2009.5420402

M3 - Conference contribution

AN - SCOPUS:77951453676

SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

SP - 1543

EP - 1548

BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

A mobile robot for transport applications in hospital domain with safe human detection algorithm

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this