Vision BasedInterface andControl of Assistive Mobile RobotSystem

We havebeentrying todevelop Assistive MObile robotSystem(AMOS).TheaimofAMOS istoreplace only simple assistive workthatpicking up,transporting andplacing thedailyuseobjects indesignated indoorlocation semi autonomously toreduce theburdenofthecaretaker. AMOS shouldavoidany kindof collisions in the environment. Therefore, the amount of sensorsand functionalities areincreased. In addition, thesystemis becoming hugeand complicated. To control theAMOS robustly, weinvented theconcept ofShared Responsibility and thecontrol method. Theconcept isapplied toAMOS.Within the concept, thefunctionality ofAMOS canbedivided tofour, VisionBasedUserInterface, Navigation System, Object Localization andGrasping, andSoftware Framework. And finally alloffourelements aredeveloped.