Browsing by Author "Lin, Ming-Han"

Now showing 1 - 4 of 4

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.
Design and Experimental Study of a Shared-Controlled Omnidirectional Mobile Platform
(2014)
Lin, Ming-Han
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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
It is usually difficult to remote control of a mobile robot using only an onboard camera. The robot can easily bump into an obstacle due to limited view angle of the on-site scene. This paper presents a shared-control design for effective remote control of an omnidirectional mobile platform. The platform is able to move in any direction without changing robot\'s heading, and a stable camera view is available for remote control. A user interface is designed for a smart phone/tablet to remote control the robot using a touch panel. The proposed controller determines the human and robot interactive 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 an omnidirectional platform can have potential use for future home service tasks.
Interactive Teleoperation of a Mobile Manipulator Using a Shared-Control Approach
(2016-12)
Song, Kai-Tai
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Jiang, Sin-Yi
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Lin, Ming-Han
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電控工程研究所
;
Institute of Electrical and Control Engineering
This paper presents a shared-control-based design for teleoperation of a dual-arm omnidirectional mobile robot-a robot that can execute tasks commanded by a remotely user, or that can operate autonomously by adapting to its immediate environment, or that can operate in both modes simultaneously. To achieve this capability for the robot and for its effective remote control, a shared-control method has been developed. The controller determines the control gains for both the human and the autonomous commands by computing the user\'s confidence factor. For ease of use, a smartphone/tablet is used to control the robot. Using this approach, the robot allows the user tomanipulate its motion from a remote site and compensates for a lack of local human knowledge. Practical experiments validate the proposed design and demonstrate the potential of the proposed shared-control method for 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.