A Novel Human-Like Control Framework for Mobile Medical Service Robot
Joint Authors
Zhang, Xin
Li, Jiehao
Qi, Wen
Zhou, Xuanyi
Hu, Yingbai
Quan, Hao
Wang, Zhen
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-27
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Recently, as a highly infectious disease of novel coronavirus (COVID-19) has swept the globe, more and more patients need to be isolated in the rooms of the hospitals, so how to deliver the meals or drugs to these infectious patients is the urgent work.
It is a reliable and effective method to transport medical supplies or meals to patients using robots, but how to teach the robot to the destination and to enter the door like a human is an exciting task.
In this paper, a novel human-like control framework for the mobile medical service robot is considered, where a Kinect sensor is used to manage human activity recognition to generate a designed teaching trajectory.
Meanwhile, the learning technique of dynamic movement primitives (DMP) with the Gaussian mixture model (GMM) is applied to transfer the skill from humans to robots.
A neural-based model predictive tracking controller is implemented to follow the teaching trajectory.
Finally, some demonstrations are carried out in a hospital room to illustrate the superiority and effectiveness of the developed framework.
American Psychological Association (APA)
Zhang, Xin& Li, Jiehao& Qi, Wen& Zhou, Xuanyi& Hu, Yingbai& Quan, Hao…[et al.]. 2020. A Novel Human-Like Control Framework for Mobile Medical Service Robot. Complexity،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1140034
Modern Language Association (MLA)
Zhang, Xin…[et al.]. A Novel Human-Like Control Framework for Mobile Medical Service Robot. Complexity No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1140034
American Medical Association (AMA)
Zhang, Xin& Li, Jiehao& Qi, Wen& Zhou, Xuanyi& Hu, Yingbai& Quan, Hao…[et al.]. A Novel Human-Like Control Framework for Mobile Medical Service Robot. Complexity. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1140034
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1140034