Design and experiment of a human-touch robot

Kai-Tai Song, Sin Yi Jiang, Ming Han Lin, Cheng Hei Wu, Yi Fu Chiu, Wei Che Lin, Shang Yang Wu, Chien Yu Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationCACS 2014 - 2014 International Automatic Control Conference, Conference Digest
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages275-280
Number of pages6
ISBN (Electronic)9781479945849
DOIs
StatePublished - 28 Apr 2014
Event2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan
Duration: 26 Nov 201428 Nov 2014

Publication series

NameCACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Conference

Conference2014 International Automatic Control Conference, CACS 2014
CountryTaiwan
CityKaohsiung
Period26/11/1428/11/14

Keywords

  • autonomous navigation
  • omnidirectional mobile robot
  • shared control
  • teleoperation
  • visual servoing

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    Song, K-T., Jiang, S. Y., Lin, M. H., Wu, C. H., Chiu, Y. F., Lin, W. C., Wu, S. Y., & Wu, C. Y. (2014). Design and experiment of a human-touch robot. In CACS 2014 - 2014 International Automatic Control Conference, Conference Digest (pp. 275-280). [7097201] (CACS 2014 - 2014 International Automatic Control Conference, Conference Digest). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2014.7097201