Browsing by Author "Liu, Hung-Shen"

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Robot Trajectory Modification Using Human-Robot Force Interaction
(2017-01-01)
Liu, Hung-Shen
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Song, Kai-Tai
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資訊工程學系
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Department of Computer Science
This paper presents a method to teach a humanoid robot arm a new trajectory by using human-robot shared control. The robot trajectory is first taught by using the technique of programming by demonstration (PbD). If the environment changes for the learned trajectory, a user can intervene and modify the trajectory by using the proposed control method. We propose a method to modify part of the trajectory based on shared control to resolve this problem. During task execution, the user applies force to guide the robot arm and modify the trajectory in collaboration with the robot. Through shared control, control weights are adjusted respectively for human teaching and the robot automation.. Practical experiments have been carried out to verify the effectiveness of the proposed method.
Trajectory Modification of a Cloud Learning Robot
(2017-01-01)
Song, Kai-Tai
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Song, Shao-Huan
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Liu, Hung-Shen
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電控工程研究所
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Institute of Electrical and Control Engineering
In the near future, home service robots will enter our daily life and interact with people more and more frequently. In order to cope with the needs and habits of different users, an easy robot programming method is desirable. For some users, who are not familiar with programming, customizing the robot program deserves attention. This paper suggests a method to use Programming by Demonstration(PbD) to teach a robot through user demonstration of the trajectory and save the trajectory into a cloud database to facilitate future playback when needed. Through the cloud database, each robot shares previously recorded trajectories. However, in many cases a recorded trajectory may need to be modified to be customized for an individual user. In this paper, a method is proposed to facilitate the robot to return to the original trajectory as part of the retrieved trajectory is modified. Experimental results are presented by using two robots in the robotic cloud system. The first one is the prototype dual-arm home service robot Aladdin developed in the lab. The second robot is a TM5 robot from Techman, which reproduced the learned trajectories remotely.