服务机器人技术研究现状与发展趋势

The development of new technologies has contributed to the development of robotic technology. The greatest contribution to the development of robotic technology was made by information technology and sensor technology. Parallel to their development, robotic technology evolved, as well. The development of industrial robots was followed by the development of service robots. The development of information technology and advancement in sensor technology and servo-drives resulted in over 300 different types or prototypes of service robots for non-production applications. Service robots are designed to be used in professional and service workplaces, and to be used in all areas of daily life. One of the application areas of service robots is medicine. Since medicine can be classified as science, research, and human discipline, so can application of service robots present scientific contribution through huge application of variety of robotic devices for different purposes in different technological achievements in various fields of medicine. These robotic devices are used as replacement for missing limbs, perform complex surgical procedures, serve patients in hospital rooms, perform laboratory tests to diagnose the disease, and help in rehabilitation after stroke. This paper will explain the representation of service robots in medicine, as well as their application in different areas of medicine. An analysis was conducted of investment in development and research of robotic technology, with scenario of development of robot revolution to the creation of intelligent robots.

The development of service robots has gained more and more attention over the last years. Advanced robots have to cope with many different situations and contingencies while executing concurrent and interruptable complex tasks. In particular, mobile manipulation tasks increase the complexity. To manage the raising number of tasks and execution variants in complex environments there is a tremendous need for context and situation dependent composition and selection of reusable skills. This requires explicit descriptions of relevant properties and parameters of the robot, its resources and its capabilities. Different views on partial aspects of a robot system (mechanical, electrical and even software) can be provided by different models as is already common practice at design-time. However, these design-time models also need to be accessible at run-time to support run-time reasoning of the robot in order to adequately compose its skills and assign resources. That requires to extract useful information out of the design-time models and to transform it into representations which can be exploited at run-time. We present an approach to exploit information provided via design-time models (e.g. software components, simulation, planning) for run-time decision making. It allows for more informed decisions on how to compose action plots at run-time in order to manage the huge amount of different execution variants in service robotics.

This chapter describes the complete development of a service robot primarily through localization and navigational algorithms and human-robot interaction systems. The service robot was applied as a library assistant robot and its implementation was discussed and evaluated. The chapter was divided into two main topics, the localization system and the human interaction system. The localization system consists of simple modular systems incorporating fusion of odometry, monocular vision and EKF validated sonar readings. The localization method proposed here is a continuous localization process rather than a single localization step and results in fast low cost localization within a specific indoor environment. As the localization process is continuous odometry errors do not have time to accumulate, which implies that the initial position estimation using just basic odometry is relatively accurate. This allows the robot to apply the individual localization procedure for each specific location based on odometry alone. The reduction in image processing techniques such as the use of a monocular vision system rather then a stereo vision system, straight line extraction and simplified vanishing point estimation result in a fast and very effective localization system. The use of simple feature extraction (i.e. straight line extraction) in the algorithm implies that even in adverse lighting conditions it is always possible to extract the acquired information. Even if only partial features are extracted, this is still sufficient for the algorithm to operate correctly. The fact that the robot uses a very simple a priori map and does not use pre-recorded images to aid localization, results in faster

This paper presents a robot partner development platform based on smart devices. Humans communicate with others based on the basic motivations of human cooperation and have communicative motives based on social attributes. Understanding and applying these communicative motives become important in the development of socially-embedded robot partners. Therefore, it is becoming more important to develop robots that can be applied according to needs while taking these human communication elements into consideration. The role of a robot partner is more important in not only on the industrial sector but also in households. However, it seems that it will take time to disseminate robots. In the field of service robots, the development of robots according to various needs is important and the system integration of hardware and software becomes crucial. Therefore, in this paper, we propose a robot partner development platform for human-robot interaction. Firstly, we propose a modularized architecture of robot partners using a smart device to realize a flexible update based on the re-usability of hardware and software modules. In addition, we show examples of implementing a robot system using the proposed architecture. Next, we focus on the development of various robots using the modular robot partner system. Finally, we discuss the effectiveness of the proposed robot partner system through social implementation and experiments.

The development of service robots has gained more and more attention over the last years. Advanced robots have to cope with many different situations and contingencies while executing concurrent and interruptable complex tasks. To manage the sheer variety of different execution variants the robot has to decide at run-time for the most appropriate behavior to execute. That requires task coordination mechanisms that provide the flexibility to adapt at run-time and allow to balance between alternatives.

Modular (re-configurable) robots have been studied and developed over two decades. Compared to common industrial robot manipulators, modular robots usually end up showing relatively poorer performance. This is mainly because most of modular robots' designs typically concentrate on mechatronic interfaces, packaging and re-configurable features, leaving little space for dynamics and considerations. In our current research frame, we are looking at virtual decomposition control (VDC) to significantly improve modular robots dynamics and performance. A key element to successful implementation of the related algorithms has to do with the inter-modules communication link capabilities. Presented here is the first 2 DOF prototype built to demonstrate the feasibility of implementing VDC on a real system, including the Spacewire Bus based communication protocol used.

Exercise is one of the important ways for people to exercise, with characteristics such as sociality and strong participation. Especially with the improvement of the level of economic development and the improvement of the quality of life of the people, more and more people begin to attach importance to the maintenance of their own health. Physical fitness monitoring, as an effective means, is widely used in daily life, especially among the elderly. However, most of the existing monitoring methods are relatively simple, lacking pertinence, and the data collection process is relatively cumbersome and unstable, which cannot meet current needs. Therefore, it is very necessary to explore a new type of equipment that can more comprehensively and accurately monitor various physiological parameters of the human body to replace existing traditional detection technologies. Service Robots are currently the most promising intelligent hardware products. They mainly provide personalized services centered on users, sensing user behavior and implementing intelligent decision-making based on their characteristics, thereby better meeting the needs of different groups of people. This article focused on the research and development of Service Robots, and designed a comprehensive solution for Service Robots based on theories such as the Internet of Things, cloud computing, big data technology, and artificial intelligence. This article compared existing intelligent monitoring systems with fitness monitoring systems based on Service Robots, and proved that the user experience of fitness monitoring with robot participation has improved by about 4.68%. Its application scenarios were richer and its effects were more significant, enabling it to better complete tasks such as analysis and prediction of physical fitness status, real-time warning, etc., reducing the risk of people suffering from diseases, and enhancing individual protection awareness.

In Alex Proyas’s science fiction movie “I, Robot” (2004) a detective suspects a robot as murderer. This robot is a representative of a new generation of personal assistants that help and entertain people during daily life activities. In opposition to the public opinion the detective proclaimed that the robot is able to follow his own will and is not forced to Isaac Asimov’s three main rules of robotics (Asimov, 1991). In the end this assumption turned out to be the truth. Even though the technological part of this story is still far beyond realization, the idea of a personal robotic assistant is still requested. Experts predicted robotic solutions to be ready to break through in domestic and other non-industrial domains (Engelberger, 1989) within the next years. But up to now, only rather simple robotic assistants like lawn mowers and vacuum cleaners are available on the market. As stated in (Grafe & Bischoff, 2003), all these systems have in common that they only show traces of intelligence and are specialists, designed for mostly a particular task. Robots being able to solve more complex tasks have not yet left the prototypical status. This is due to the large number of scientific and technical challenges that have to be coped with in the domain of robots acting and interacting in human environments (Kemp et al., 2007). The focus of this paper is to describe a tool based process model, called the “FRIEND::Process”1, which supports the development of intelligent robots in the domain of personal assistants. The paper concentrates on the interaction and close relation between the FRIEND::Process and configurable task-knowledge, the so called process-structures. Process-structures are embedded in different layers of abstraction within the layered control architecture MASSiVE2 (Martens et al., 2007). Even though the usage of layered control architectures for service robots is not a novel idea and has been proposed earlier (Schlegel &

Robotics standardization can be broadly divided into industrial robots and service robots, primarily driven by safety and performance considerations. However, as robotic functions become more advanced, and the application fields are becoming more segmented. Recently, with advancements in cloud computing and physical AI, the intelligence of robots is being enhanced, leading to applications that integrate robotic technology with standards related to cloud, IoT, and artificial intelligence. This paper reports on the international standardization trends promoted by ISO, IEC, ITU-T, IEEE, and OMG, and the domestic standardization activities of KOROS and KS, and analyzes the current status and issues of the modularity standards for service robots being promoted by ISO TC299 Robotics. ISO is engaged in the standardization of both industrial and service robots, while IEC is focusing on cleaning robots, household mobile robots, and medical robots. IEEE has published several standards related to 2D/3D map, ontology, and robot ethics, and has recently initiated the standardization of humanoid robots. OMG is working towards interoperability of robots, while standards linking robotics with IT are being published through ITU-T. The information model for service robot modules will enable the reuse of modules produced by applying modular design principles and the development of robots by combining modules, and will serve as the basis for creating a robot ecosystem in the form of subscription services in the future.

Abstract. One major technological development pertains to the service robot industry. In Indonesia, the development of robots is increasing. Telkom will begin to explore new opportunities with companion robots, which can respond to and chat with humans and move around. Therefore, more analysis is needed based on market research and prospective user surveys. The present study aims to obtain information on the features of service robots significantly influencing customers’ desire to purchase them and on the types of service robots they are likely to choose. The discrete choice model method is used to understand and predict a decision from a discrete alternative, based on a set of choices constructed with the help of the Ngene software and the D-efficient design method. We processed questionnaire results using the Python-Biogeme software to look for significant attributes and their elasticity. The significant attributes of companion robots defined by T-test are basic robot look (3.86), battery life (5.45), robot price (9.16), walking-computer look (6.10), and robot weight (8.38). The suggested strategy, among the three types of companion robots, is to focus on the personal assistant robot with the highest T-test score while paying attention to the resources a company already has. Keywords: Service Robot, Discrete Choice Model, Significant Attribute, Elasticity

Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require high levels of robustness and autonomy to operate in highly heterogeneous environments. As a domain with critical safety implications, service robotics faces a need for sound software development practices. In this paper, we present the first large-scale empirical study to assess the state of the art and practice of robotics software engineering. We conducted 18 semi-structured interviews with industrial practitioners working in 15 companies from 9 different countries and a survey with 156 respondents (from 26 countries) from the robotics domain. Our results provide a comprehensive picture of (i) the practices applied by robotics industrial and academic practitioners, including processes, paradigms, languages, tools, frameworks, and reuse practices, (ii) the distinguishing characteristics of robotics software engineering, and (iii) recurrent challenges usually faced, together with adopted solutions. The paper concludes by discussing observations, derived hypotheses, and proposed actions for researchers and practitioners.

This article provides a systematic review of research articles applying Kansei / Affective Engineering methodologies for the development of Social and Service Robots. We describe relevant concepts and main types of Kansei Engineering methodologies to assist new researchers and practitioners interested in the area. We also summarize the main objectives and findings of eleven peer-reviewed research articles published in relevant conferences and journals. We selected these articles after performing a systematic search in relevant databases for robotics research (Science Direct, Web of Science, IEEE Xplore, ACM digital library, and Springer Link) and Kansei Engineering (J-STAGE). This search includes studies published in the English language between 1999 and 2019. Findings from observed articles indicate that Kansei Engineering is a suitable paradigm for robot design. Moreover, developers can use Kansei Engineering methodologies to identify and better understand the design aspects enabling social and service robots to be accepted and desired by users. Contributions of articles reviewed include (i) the use of novel approaches for grasping emotional reactions in Human–Robot Interaction experiments and (ii) the proposal of guidelines for designing social and service robots. However, the use of Kansei Engineering methodologies in robotics is still a poorly explored area. Therefore, we describe possible future directions and open challenges.

Body activity interaction plays an essential role in the field of intelligent robots. In this paper, we design a body activity interaction system for a service robot. In order to realize body activity interaction, the Microsoft Kinect is utilized to capture owner body movements and provide input signals of the action recognition module. Based on the RGBD and skeleton information from Microsoft Kinect, action recognition module can analyze meaning of owner body movements effectively and send orders to service robot quickly. Besides, kinematics model of the service robotic arm is built and the motion planning on the joint space is also executed. Finally, service robot receives orders and conducts robotic arm to implement handshaking or hand waving. Extensive experiments illustrate the correctness and effectiveness of our developed body activity interaction system on the platform of service robot.

Service robots shall very soon autonomously provide services in all spheres of life by executing demanding and complex tasks in dynamic, complex environments and by collaborating with human users. In order to push forward the understanding of the safety problem a novel classification of robot hazards is provided. The so-called object interaction hazards are derived which arise when environment objects interact with objects that are manipulated by a robot. Taking into account the current state-of-the-art, it can be stated that this denotes a novel problem area. However, it is already proposed the so-called dynamic risk assessment approach, which shall enable the robot to perceive the risk of current and upcoming situations. In order to realize such a risk-aware planning system for the first time, dynamic risk assessment is integrated within a cognitive architecture serving cognitive functions like anticipation, planning and learning. In this connection, action spaces (sets of possible upcoming situations) are dynamically anticipated assessed with regard to comprised risks. Though, (initial) knowledge about hazards is required in order to realize this. Therefore, a novel procedural model is developed for systematically generating a safety knowledge base. However, it can be assumed that the safety knowledge potentially lacks completeness. The application of AI-based approaches constitutes a noteworthy opportunity. For this reason, light is shed on strategically influential learning methods in safety-critical contexts. Finally, this work describes the generation, integration, utilization, and maintenance of a system-internal safety knowledge base for dynamic risk assessment. It denotes an overall concept toward solving the advanced safety problem and confirms in principle the realization of a safe behavior of autonomous and intelligent systems.

Modular robot is an approach to build the robot for various complex tasks with the promise of great versatility, robustness and lower cost. It can be used extensively to meet the demands of different tasks or different working environments by changing its shapes. Therefore, they can travel over or through obstacles, and go though small pipe. Even they can walk somewhat like a person on crutches. It is a key technology that how modular robot with vision to capture exact image information, as well as to extract the feature parameters of components real-timely, to recognize the component types, and to judge the position and posture of component. The quantity of the motion pattern will decide the adjustable ability of modular robot. So, dynamic vision control system is very important for modular robot, which can improve its moving ability and intelligent degree. With the help of the dynamic vision control system, the robot can accomplish different tasks in different working environments by itself, such as deciding routes and avoiding obstacles. In this paper, in order to improve the vision of modular robot, a kind of dynamic vision control system is analyzed and researched roundly, and two kinds of motion patterns for the modular robot are put forward.