基于ROS的自主家庭陪伴机器人设计  

Design of autonomous family companion robot based on ROS

作　　者：李建勇[1] 赵静[1] 刘雪梅[1] 李雪霞[1] Li Jianyong;Zhao Jing;Liu Xuemei;Li Xuexia(Northwestern Polytechnical University Ming De College,Xi′an 710124,China)

机构地区：[1]西北工业大学明德学院,陕西西安710124

出　　处：《电子技术应用》2021年第2期58-62,共5页Application of Electronic Technique

基　　金：陕西省教育厅2018年度专项科学研究计划项目(18JK1171)。

摘　　要：针对目前留守儿童、空巢老人以及行动不便之人缺乏陪伴的问题,设计了一种自主家庭陪伴机器人。基于机器人操作系统(ROS)架构,首先以Jetson TX1为核心搭建了自主移动的家庭陪伴机器人,然后进行软件设计,使其不仅能与人进行自然语言交流,还能使用眼部表情和仿人上肢进行肢体交流,以及通过用户界面(UI)实现人机互动等工作。经实物测试,验证了该机器人设计的合理性,能满足日常家庭的陪伴工作,并可对其继续开发以胜任更多工作。Aiming at the problem of left-behind children,empty-nest elderly,and people with reduced mobility,an autonomous family companion robot was designed.Based on the architecture of robot operating system(ROS),firstly,an autonomous mobile family companion robot was built with Jetson TX1 as the core,then the software was designed,which makes it not only able to communicate with people in natural language,but also use eye expressions and humanoid upper limbs for physical communication,and realize human-machine interaction through User Interface(UI).The rationality of the robot design is verified by the physical test,and the robot can meet the company work of daily family and continue to be developed to do more work.

关 键 词：家庭陪伴机器人 ROS 自然语言 肢体交流 UI 

分 类 号：TN912.3[电子电信—通信与信息系统] TP242[电子电信—信息与通信工程]