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
Appears in Collections:Conferences Paper