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Paper Abstract and Keywords
Presentation 2014-02-22 14:15
Control of Accompanying Movement of Autonomous Mobile Robot Based on Hand Joining Potential
Takafumi Watanuki, Masahide Kaneko (UEC)
Abstract (in Japanese) (See Japanese page) 
(in English) This paper proposes a hand joining potential based control method for an autonomous mobile robot which accompanies a user. A hand joining potential is designed by optimizing an artificial potential method to accompanying movement. A robot moves side-by-side with a user in the normal situation, and changes to a cascade position for avoiding obstacles. Attractive potentials are set on both left and right sides of an accompanying person and their locations are changed according to the position of an accompanying person and conditions of surroundings. Using the proposed method, the mobile robot can autonomously changes parallel and cascade positions with a user without resetting the parameters under complex environments. The simulation results are shown to prove the efficiency of the proposed method, in which the collision with an oncoming person or a passing person is avoided by the robot naturally.
Keyword (in Japanese) (See Japanese page) 
(in English) Hand Joining / Accompanying / Autonomous Mobile Robot / Artificial Potential Method / / / /  
Reference Info. ITE Tech. Rep., vol. 38, no. 9, ME2014-37, pp. 33-36, Feb. 2014.
Paper # ME2014-37 
Date of Issue 2014-02-15 (ME) 
ISSN Print edition: ISSN 1342-6893
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Conference Information
Committee ME  
Conference Date 2014-02-22 - 2014-02-22 
Place (in Japanese) (See Japanese page) 
Place (in English) Kanto Gakuin Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ME 
Conference Code 2014-02-ME 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Control of Accompanying Movement of Autonomous Mobile Robot Based on Hand Joining Potential 
Sub Title (in English)  
Keyword(1) Hand Joining  
Keyword(2) Accompanying  
Keyword(3) Autonomous Mobile Robot  
Keyword(4) Artificial Potential Method  
1st Author's Name Takafumi Watanuki  
1st Author's Affiliation The University of Electro-Communications (UEC)
2nd Author's Name Masahide Kaneko  
2nd Author's Affiliation The University of Electro-Communications (UEC)
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Speaker Author-1 
Date Time 2014-02-22 14:15:00 
Presentation Time 15 minutes 
Registration for ME 
Paper # ME2014-37 
Volume (vol) vol.38 
Number (no) no.9 
Page pp.33-36 
Date of Issue 2014-02-15 (ME) 

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