O. Ait Aider, P. Hoppenot, E. Colle

ICORR

Abstract: Robotics can provide technological solutions for improving the quality of life of motor disabled or elderly people. The main objective is to give person hours of independence by using a mobile base mounted arm. Because of particular constraints of this field of application the machine is semiautonomous and requires a close human machine co-operation for its control. In order to develop a user oriented machine control it is significant to determine the limits of autonomy of an affordable robot.

After a description of the whole assistance system the paper focuses on the localisation problem of the mobile robot in a partly known environment.

Key-words : mobile robot, man-machine coope-ration, camera pose determination.