Development of a multimode navigation system
for an assistive robotics project
Andrea Cherubini, Giuseppe Oriolo, Francesco Macrì
DIS, Università di Roma “La Sapienza”, Italy
Fabio Aloise, Fabio Babiloni, Febo Cincotti, Donatella Mattia
Fondazione Santa Lucia IRCCS, Roma, Italy
• ASPICE: an assistive system for remote
control of domotic appliances, including an
AIBO robot
• Three robot navigation modes: single step,
semi-autonomous and autonomous
• Visual servoing used in autonomous mode
• Clinical validation of the system
The ASPICE architecture