Technical Framework for a Care Robot
Momotaz Begum, Ola Ghattas, Marzan Alam, Moniruzzaman Akash, Noushad Sojib, Mostafa Hussein

TL;DR
This paper introduces an open-source control system for home care robots that can perform tasks like reminding seniors to take medication or exercise.
Contribution
The novel contribution is a platform-agnostic, ROS2-based AI planner integrating perception-action pipeline for home care robots.
Findings
The architecture integrates state-of-the-art algorithms for navigation, tracking, and natural language processing.
Field study data demonstrates real-time execution of care services for older adults.
The system is designed to be lightweight and adaptable to various robot platforms.
Abstract
A robot that cares for older adults in their home is tasked with making reliable sequential decisions subjected to uncertainties of human behaviors and environments. This is highly non-trivial due to a plethora of challenges involved with real-time processing of perception-action pipeline. The state of the art in AI robotics offers efficient tools to solve individual problems that may arise along this pipeline. An integrated solution, however, is still non-existent. We will present our ongoing work on developing an open-source control architecture that implements the entire perception-action pipeline for home care robots in a platform agnostic manner. The core of this architecture is a lightweight ROS2-based AI planner that can generate task plans executable by any robot – equipped with appropriate actuators – while sensing the current state of the environment and the care recipient…
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Taxonomy
TopicsSocial Robot Interaction and HRI · Context-Aware Activity Recognition Systems · Multimodal Machine Learning Applications
