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Updated: May 18, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Intelligent lead: a novel HRI sensor for guide robots.

Keum-Bae Cho1, Beom-Hee Lee

  • 1Department of Electrical Engineering and Computer Science, Seoul National University, Seoul, Korea. kbcho98@snu.ac.kr

Sensors (Basel, Switzerland)
|September 13, 2012
PubMed
Summary

Researchers developed an "intelligent lead" sensor system for guide robots, enhancing human-robot interaction. This system ensures stable distance and control for robots assisting geriatric or visually impaired users, even on uneven terrain.

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Area of Science:

  • Robotics
  • Human-Robot Interaction (HRI)
  • Sensor Fusion

Background:

  • Guide robots for geriatric patients and the visually impaired require real-time user command and position acquisition.
  • Maintaining a stable distance and control is crucial for user freedom and robot functionality.

Purpose of the Study:

  • Introduce a novel Human Robot Interaction (HRI) sensor, the "intelligent lead", for guide robots.
  • To achieve stable distance, speed, and turn control for mobile robots in dynamic environments.

Main Methods:

  • Developed a sensor fusion system combining a Kinect sensor, rotary encoders, and an Inertial Measurement Unit (IMU).
  • Utilized a precise Extended Kalman Filter (EKF) for fusing sensor measurements.
  • Integrated the "intelligent lead" sensor system into a mobile robot platform for testing.
Keywords:
EKFIMUKinect sensorguide robotserial linkagevisually impaired

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Main Results:

  • The "intelligent lead" system demonstrated the ability to maintain a stable distance from the user.
  • The mobile robot successfully achieved goal points while maintaining appropriate user-robot distance, even on uneven ground.
  • Validated the "intelligent lead" as a viable HRI sensor for mobile environments.

Conclusions:

  • The proposed "intelligent lead" sensor system effectively enhances guide robot performance in Human Robot Interaction.
  • This sensor fusion approach provides stable control and distance maintenance, crucial for assistive robotics.
  • The "intelligent lead" offers a promising solution for real-time control in dynamic mobile HRI applications.