2A1-P03 日常生活支援移動ロボットASAHIの開発 : 全体構想とハードウェア構成(インフォマティブ・モーションとモーション・メディア-ロボットの身体性と運動-)

抄録

First, we discuss the methods of controlling a daily life-support robot. Then we describe development of a daily life-support mobile robot ASAHI. ASAHI is composed of a mobile base sub-system, a manipulator sub-system, a robot avatar sub-system, dialog sub-system and vision sub-system. ASAHI is able to execute human-tracking using a laser range finder, and recognize pointing gesture using Kinect sensor.