Design Issues of a Semi-Autonomous Robotic Assistant for the Health Care Environment

Authors:
E. Ettelt;R. Furtwä/ngler;U. D. Hanebeck;G. Schmidt
Affiliations:
Institute of Automatic Control Engineering (LSR), Technische Universitä/t Mü/nchen, 80290 Mü/nchen, Germany/ e-mail: roman@lsr.e-technik.tu-muenchen.de;Institute of Automatic Control Engineering (LSR), Technische Universitä/t Mü/nchen, 80290 Mü/nchen, Germany/ e-mail: roman@lsr.e-technik.tu-muenchen.de;Institute of Automatic Control Engineering (LSR), Technische Universitä/t Mü/nchen, 80290 Mü/nchen, Germany/ e-mail: roman@lsr.e-technik.tu-muenchen.de;Institute of Automatic Control Engineering (LSR), Technische Universitä/t Mü/nchen, 80290 Mü/nchen, Germany/ e-mail: roman@lsr.e-technik.tu-muenchen.de
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

This paper discusses design issues of a mobile robotic assistant forhealth or home care applications with the objective of relieving hospitalpersonnel or domestic users of time-consuming routine tasks. These tasks aredelegated to the robot via natural language and in turn autonomouslyexecuted. With respect to the execution of typical fetch-and-carry tasks,key components are surveyed and a system architecture for integration of theindividual hardware and software modules into a service robot is presented.A prototype implementation is described and used for demonstrating theperformance of the proposed design approach in real-world servicescenarios.