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dc.contributor.authorSong, Kai-Taien_US
dc.contributor.authorJiang, Sin-Yien_US
dc.contributor.authorLin, Ming-Hanen_US
dc.contributor.authorWu, Cheng-Heien_US
dc.contributor.authorChiu, Yi-Fuen_US
dc.contributor.authorLin, Wei-Cheen_US
dc.contributor.authorWu, Shang-Yangen_US
dc.contributor.authorWu, Chien-Yuen_US
dc.date.accessioned2017-04-21T06:49:43Z-
dc.date.available2017-04-21T06:49:43Z-
dc.date.issued2014en_US
dc.identifier.isbn978-1-4799-4584-9en_US
dc.identifier.urihttp://hdl.handle.net/11536/135859-
dc.description.abstractIn 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.en_US
dc.language.isoen_USen_US
dc.subjectshared controlen_US
dc.subjectteleoperationen_US
dc.subjectautonomous navigationen_US
dc.subjectvisual servoingen_US
dc.subjectomnidirectional mobile roboten_US
dc.titleDesign and Experiment of a Human-Touch Roboten_US
dc.typeProceedings Paperen_US
dc.identifier.journal2014 CACS INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS 2014)en_US
dc.citation.spage275en_US
dc.citation.epage280en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000380407200048en_US
dc.citation.woscount1en_US
Appears in Collections:Conferences Paper