Browsing by Author "Andrian, H"

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Embedded CMOS imaging system for real-time robotic vision
(2005)
Andrian, H
;
Song, KT
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a real-time robotic vision system that provides visual information for a control scheme of mobile manipulation. The hardware implementation consists of a CMOS image board and a TI DSP board which uses C6416 as the main processor. The merits of using these two boards are the construction of a low cost embedded platform with high performance. Meanwhile the software implementation proposes a visual servoing using a behavior-based approach to solving the mobile manipulator control problem. The description of the hardware and software implementation is given and experimental results are discussed.
Personal assistant robot
(2005)
Lin, CH
;
Andrian, H
;
Wang, YQ
;
Song, KT
;
電控工程研究所
This paper presents a design and implementation of a prototype personal assistant robot (PAR). The goal for the development of PAR is to investigate how an intelligent machine can assist and interact with a person in a smart manner. The PAR prototype consists of a mobile platform and a three degree-of-freedom manipulator. Currently, implemented functions include PDA remote control, human face recognition and tracking, and fuzzy behavior-based navigation. Experimental studies of these functions show that the robot demonstrates autonomous interactions as well as assistant functions in a natural indoor environment.