Browsing by Author "Wu, Shang-Yang"

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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.
Safe Guidance for a Walking-Assistant Robot Using Gait Estimation and Obstacle Avoidance
(2017-10-01)
Song, Kai-Tai
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Jiang, Sin-Yi
;
Wu, Shang-Yang
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資訊工程學系
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Department of Computer Science
This paper presents a motion control design for a walking-assistant robot by combining passive-compliant behavior and active obstacle avoidance. The proposed method recognizes the intended motion for a user using gait movement and the applied force of a hand. A passive-compliant motion control is developed that allows the user to safely walk with the robot. The obstacle avoidance controller actively controls the velocity to guide the user in a direction that avoids collisions. A shared-control scheme combines active obstacle avoidance and passive-compliant motion commands. The experimental results verify the effectiveness of the proposed method and show that the robot allows a user to walk safely in a complex environment. A questionnaire survey of elderly users shows that the proposed design for a walking-assistant robot gives satisfactory performance.