Browsing by Author "Wu, Ching-Jui"

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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.
Walking Assist Design of a Dual-arm Robot
(2014-01-01)
Wu, Ching-Jui
;
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 dual-arm mobile robot is designed and experimented to provide walking support to a user. The robot has two operation modes, which can be transformed according to the user\'s need. When the robot is in the grasping mode, the robot can fetch an object using computer vision and 6-DOF robot arms. When the user wants walking help, the robot can be configured to the supporting mode to provide walking assist. In the supporting mode, the robot arms are transformed to close and hold each other by the special designed buckle mechanism. A motion planning strategy is proposed to achieve arm-closing and buckle locking and unlocking. In this way, the robot arms are configured into a handrail for user support. Furthermore, a 6-DOF force/torque sensor is installed on the right robot arm to estimate the user\'s motion intent. The walking support system determines robot velocity based on a compliance controller to provide the walking assist. Several experiments validate the proposed design and demonstrate the dual-arm robot can provide user walking assist.