標題: | Design and Experiment of a Human-Touch Robot |
作者: | Song, Kai-Tai Jiang, Sin-Yi Lin, Ming-Han Wu, Cheng-Hei Chiu, Yi-Fu Lin, Wei-Che Wu, Shang-Yang Wu, Chien-Yu 電控工程研究所 Institute of Electrical and Control Engineering |
關鍵字: | shared control;teleoperation;autonomous navigation;visual servoing;omnidirectional mobile robot |
公開日期: | 2014 |
摘要: | 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. |
URI: | http://hdl.handle.net/11536/135859 |
ISBN: | 978-1-4799-4584-9 |
期刊: | 2014 CACS INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS 2014) |
起始頁: | 275 |
結束頁: | 280 |
顯示於類別: | 會議論文 |