Perception of human beings is one of the basic capabilities of service robots and is the prerequisite for interaction between robots and humans. Although enabling hardware and software technologies have made great strides, there are not many open-source solutions that organically integrate the two. To address this shortfall, this paper introduces an open-source scheme of hardware and software integration for robotic embodied human perception. The embodied entity includes a robot chassis, a computing unit based on ARM architecture, a 3D lidar, a 2D lidar and four RGB-D cameras for robot exterior perception, a display panel for human-robot interaction, a set of LED lights to show the robot’s status and a sonar strip for low-level obstacle avoidance. The perception software is fully based on the Robot Operating System (ROS) which allows high modularity, fully deployed to the embodied entity and running at a rate of 30 Hz. The entire integration solution is very portable and publicly available at https://github.com/ Nedzhaken/human_aware_navigation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Open-source Software-hardware Integration Scheme for Embodied Human Perception in Service Robotics


    Contributors:


    Publication date :

    2024-05-20


    Size :

    3424431 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Innately adaptive robotics through embodied evolution

    Mahdavi, S. H. / Bentley, P. J. | British Library Online Contents | 2006


    Special Issue on Open Source Software-Supported Robotics Research

    Pantofaru, C. | British Library Online Contents | 2013


    Hierarchies for embodied action perception

    Ognibene D / Wu Yan / Lee Kyuhwa et al. | BASE | 2013

    Free access

    EV Robotics: Integration of Robotics and Human EVA

    McMonagle, D. / Space Studies Institute | British Library Conference Proceedings | 1997


    Software variability in service robotics

    Brugali, Davide | BASE | 2023

    Free access