Guidance and Control of Nursing Care Robot Using Gaze Point Detector and Linear Visual Servoing
Akimitsu Imasato* and Noriaki Maru**
*Shima Seiki Mfg., Ltd., 85 Sakata, Wakayama, Japan
**Faculty of Systems Engineering, Wakayama University, 930 Sakaedani, Wakayama, Wakayama 640-8510, Japan
The gaze guidance and control we propose for a nursing robot uses a gaze point detector (GPD) and linear visual servoing (LVS). The robot captures stereo camera images, presents them via a head-mounted display (HMD) to the user, calculates the user’s gaze tracked by the camera, and moves to gaze of the LVS. Since in the proposal, persons requiring nursing share the robot’s field of view via the GPD, the closer they get to the target, the more accurate control becomes. The GPD, on the user’s head, has an HMD and a CCD camera.
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