Browsing by Author "Chiu, Yi-Fu"

Now showing 1 - 3 of 3

Design and Experiment of a Human-Touch Robot
(2014)
Song, Kai-Tai
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Jiang, Sin-Yi
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Lin, Ming-Han
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Wu, Cheng-Hei
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Chiu, Yi-Fu
In this paper we propose a shared-control based teleoperation design for a dual-arm omnidirectional mobile robot. The robot not only can adapt its motion to environment autonomously, but also move according to the user\'s remote commands. To achieve this goal, a shared-control scheme for effective remote control of the mobile robot is developed. For tele-presence and remote control, a user interface is designed for a smart phone/tablet. The proposed controller determines the human and autonomy control gains by computing user\'s confidence factor. In this approach, the robot assists a user to manipulate its motion from a remote site by compensating local insufficiency of human remote control. Practical experiments validate the proposed design and demonstrate that the proposed shared-control approach of a dual-arm omnidirectional mobile robot can have potential use for future home service tasks.
Mobile Manipulation and Visual Servoing Design of a Configurable Mobile Manipulator
(2013-01-01)
Song, Kai-Tai
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Jiang, Sin-Yi
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Wu, Ching-Jui
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Lin, Ming-Han
;
Wu, Cheng Hei
This paper presents a mobile manipulation and visual servoing design for a configurable mobile manipulator by using a Kinect sensor. To achieve this goal, an image-based grasping design is combined with a visual simultaneous localization and mapping (vSLAM). The proposed vSLAM method is based on extended Kalman filter (EKF) and a Kinect RGBD sensor. In the manipulator design, the robot arms are designed to be able to configure as a handrail for user support in execution of walking assistance tasks. The purpose of this design is to perform mobile manipulation and walking assistance tasks on the same robot. Experiments on the prototype dual-arm mobile manipulator validate that the proposed method can find and grasp a target object after navigation a distance to the object position. After the robot delivered the object to the user, it configured to provide walking assist to the user using the suggested compliance controller.
Vision-Based Grasp Planning and Experiments of a Mobile Manipulator
(2015)
Chiu, Yi-Fu
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Song, Kai-Tai
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電控工程研究所
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Institute of Electrical and Control Engineering
In this paper, a motion planner is designed and implemented for of a mobile manipulator to travel to a spot for grasping of an object. In this work, the probability of successful grasping inside the workspace of the robot arm is used for grasping planning. A vision SLAM system is combined with reachability calculation to figure out the grasping position. Using a laboratory dual-arm robot, we conducted experiments in different conditions to verify the effectiveness of the developed system.