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An Autonomous Human Following Caddie Robot with High-Level Driving Functions

Title
An Autonomous Human Following Caddie Robot with High-Level Driving Functions
Authors
Choi, Jung HyunKim, SamuelNam, KanghyunOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2020-09
Citation
Electronics, 9(9), 1516
Type
Article
Article Type
Article
Author Keywords
Autonomous human followingCaddie robotDriving controlGolf
ISSN
2079-9292
Abstract
Nowadays, mobile robot platforms are utilized in various fields not only for transportation but also for other diverse services such as industrial, medical and, sports, etc. Mobile robots are also an emerging application as sports field robots, where they can help serve players or even play the games. In this paper, a novel caddie robot which can autonomously follow the golfer as well as provide useful information such as golf course navigation system and weather updates, is introduced. The locomotion of the caddie robot is designed with two modes: autonomous human following mode and manual driving mode. The transition between each mode can be achieved manually or by an algorithm based on the velocity, heading angle, and inclination of the ground surface. Moreover, the transition to manual mode is activated after a caddie robot has recognized the human intention input by hand. In addition, the advanced control algorithm along with a trajectory generator for the caddie robot are developed taking into consideration the locomotion modes. Experimental results show that the proposed strategies to drive various operating modes are efficient and the robot is verified to be utilized in the golf course. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.
URI
http://hdl.handle.net/20.500.11750/12690
DOI
10.3390/electronics9091516
Publisher
MDPI AG
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles


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