Year: 2017
Type: dissertation
Abstract: Assistive robotics is a fast developing field, where a lot of research effort is invested towards the applications in healthcare domain.So far, the number of commercially available robots is low, and one of the reasons is robots' limited ability to interact with users in safe and natural, human-like manner.This work focuses on development of a robot dressing assistant, more specifically its ability to track the user and recognize his/her intention to be dressed.The work is performed under the framework of the I-DRESS project, which aims to develop a robot able to provide proactive assistance with dressing to users with reduced mobility.The proposed system consists of a Barrett WAM robot manipulator and a Microsoft XBOX ONE Kinect Sensor V2.0 Camera Sensor (popularly known as Kinect 2, and will be denominated as such in the rest of this document), which provides user tracking from depth images.The integration of hardware and algorithms was performed in Robot Operating System (ROS).All developments and experiments were done in the laboratory of the Perception and Manipulation Group, at the Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC.
Author: Victor Sanchez
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2775046973