ESNI: Domestic Robots Design for Elderly and Disabled People

摘要

Our paper focuses on the research of the possibility for speech recognition intelligent agents to assist the elderly and disabled people's lives, to improve their life quality by utilizing cutting-edge technologies. After researching the attitude of elderly and disabled people toward the household agent, we propose a design framework: ESNI(Exploration, Segmentation, Navigation, Instruction) that apply to mobile agent, achieve some functionalities such as processing human commands, picking up a specified object, and moving an object to another location. The agent starts the exploration in an unseen environment, stores each item's information in the grid cells to his memory and analyzes the corresponding features for each section. We divided our indoor environment into 6 sections: Kitchen, Living room, Bedroom, Studio, Bathroom, Balcony. The agent uses algorithms to assign sections for each grid cell then generates a navigation trajectory base on the section segmentation. When the user gives a command to the agent, feature words will be extracted and processed into a sequence of sub-tasks.