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Communication Dans Un Congrès Année : 2024

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

Résumé

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.
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Dates et versions

hal-04526492 , version 1 (29-03-2024)

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  • HAL Id : hal-04526492 , version 1

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Iaroslav Okunevich, Vincent Hilaire, Stéphane Galland, Olivier Lamotte, Yassine Ruichek, et al.. An Open-source Software-hardware Integration Scheme for Embodied Human Perception in Service Robotics. The 20th IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2024), IEEE, May 2024, Hong Kong, China. ⟨hal-04526492⟩
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