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Development of the multi-functional indoor service robot PSR systems

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Abstract

This paper discusses the development of the multi-functional indoor service robot PSR (Public Service Robots) systems. We have built three versions of PSR systems, which are the mobile manipulator PSR-1 and PSR-2, and the guide robot Jinny. The PSR robots successfully accomplished four target service tasks including a delivery, a patrol, a guide, and a floor cleaning task. These applications were defined from our investigation on service requirements of various indoor public environments. This paper shows how mobile-manipulator typed service robots were developed towards intelligent agents in a real environment. We identified system integration, multi-functionality, and autonomy considering environmental uncertainties as key research issues. Our research focused on solving these issues, and the solutions can be considered as the distinct features of our systems. Several key technologies were developed to satisfy technological consistency through the proposed integration scheme.

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Acknowledgment

This research was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Korean Ministry of Commerce, Industry, and Energy. The authors acknowledge Hyundai Heavy Industries Co., Ltd. and JoyMecha Co., Ltd. for prototyping the PSR systems. The authors would like to express gratitude to Dr. Kurt Konolige at the SRI for fruitful discussions.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Korea University, Anam-domg, Sungbuk-ku, Seoul, 136-713, Korea

    Woojin Chung

  2. Intelligent Robotics Research Center, Korea Institute of Science and Technology, 39-1 Hawolgok-dong, Sungbuk-ku, Seoul, 136-791, Korea

    Gunhee Kim & Munsang Kim

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  1. Woojin Chung
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  2. Gunhee Kim
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  3. Munsang Kim
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Correspondence to Woojin Chung.

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Woojin Chung was born in Seoul, Korea, in 1970. He received the B.S. at the department of mechanical design and production engineering, Seoul National University in 1993. He received the M.S. degree in 1995 and Ph.D degree in 1998 at the department of Mechano-Informatics, the University of Tokyo. He was a senior research scientist at the Korea Institute of Science and Technology from 1998 to 2005. He joined the department of mechanical engineering, Korea University in 2005 as an assistant professor. He received an excellent paper award from the Robotics Society of Japan in 1996 and a best transactions paper award from the IEEE robotics and automation society in 2002. His research interests include the design and control of nonholonomic underactuated mechanical systems, trailer system design and control, mobile robot navigation, a dexterous robot hand and a system integration of intelligent robots. He is a member of the IEEE, the robotics society of Japan, the institute of control, automation and systems engineers and the Korea robotics society.

Gunhee Kim received the B.S. and M.S. degrees at the department of mechanical engineering, Korea Advanced Institute of Science and Technology (KAIST), Korea, in 1999 and 2001, respectively. He was a research scientist in Intelligent Robotics Research Center, at Korea Institute of Science and Technology (KIST), Korea, from 2001 to 2006. Currently, he is a graduate student in the Robotics Institute, Carnegie Mellon University. His research interests include computer vision, artificial intelligence, mobile robot navigation, and discrete event systems. He is a member of the IEEE.

Munsang Kim received the B.S. and M.S degree in Mechanical Engineering from the Seoul National University in 1980 and 1982 respectively and the Dr.-Ing. degree in Robotics from the Technical University of Berlin, Germany in 1987. Since 1987 he has been working as a research scientist at Korea Institute of Science and Technology. He has led the Intelligent Robotics Research Center since 2000 and became the director of the “Intelligent Robot—The Frontier 21 Program” since Oct. 2003. His current research interests are design and control of novel mobile manipulation systems, haptic device design and control, and sensor application to intelligent robots.

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Chung, W., Kim, G. & Kim, M. Development of the multi-functional indoor service robot PSR systems. Auton Robot 22, 1–17 (2007). https://doi.org/10.1007/s10514-006-9001-z

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