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Sensors 2016, 16(6), 842; doi:10.3390/s16060842

A Self-Organizing Interaction and Synchronization Method between a Wearable Device and Mobile Robot

1
Departement of Software Convergence, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 702-701, Korea
2
School of Electronics Engineering, College of IT Engineering, Kyungpook National University, 80 Daehakro, Bukgu, Daegu 702-701, Korea
*
Author to whom correspondence should be addressed.
Academic Editors: Massimo Poncino and Ka Lok Man
Received: 4 March 2016 / Revised: 4 May 2016 / Accepted: 3 June 2016 / Published: 8 June 2016

Abstract

In the near future, we can expect to see robots naturally following or going ahead of humans, similar to pet behavior. We call this type of robots “Pet-Bot”. To implement this function in a robot, in this paper we introduce a self-organizing interaction and synchronization method between wearable devices and Pet-Bots. First, the Pet-Bot opportunistically identifies its owner without any human intervention, which means that the robot self-identifies the owner’s approach on its own. Second, Pet-Bot’s activity is synchronized with the owner’s behavior. Lastly, the robot frequently encounters uncertain situations (e.g., when the robot goes ahead of the owner but meets a situation where it cannot make a decision, or the owner wants to stop the Pet-Bot synchronization mode to relax). In this case, we have adopted a gesture recognition function that uses a 3-D accelerometer in the wearable device. In order to achieve the interaction and synchronization in real-time, we use two wireless communication protocols: 125 kHz low-frequency (LF) and 2.4 GHz Bluetooth low energy (BLE). We conducted experiments using a prototype Pet-Bot and wearable devices to verify their motion recognition of and synchronization with humans in real-time. The results showed a guaranteed level of accuracy of at least 94%. A trajectory test was also performed to demonstrate the robot’s control performance when following or leading a human in real-time. View Full-Text
Keywords: mobile robot; human following or leading; LF/RF pairing; device-to-device synchronization mobile robot; human following or leading; LF/RF pairing; device-to-device synchronization
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Kim, M.S.; Lee, J.G.; Kang, S.J. A Self-Organizing Interaction and Synchronization Method between a Wearable Device and Mobile Robot. Sensors 2016, 16, 842.

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