Title :
Supervised Semi-Autonomous Controls for MOBIT
Author :
Rahman, Nasir ; Li, Kejie ; Duan, Xingguang ; Li, Junchen ; Li, Jingtao ; Huang, Qiang
Author_Institution :
Dept. of Mechatronics Eng., Beijing Inst. of Technol.
Abstract :
This paper presents semi-autonomous controls of MOBIT (D. Xingguang, et al., June 2006) based on supervised human-robot interaction. The developed control system comprises both task level and motor level controls. The tasks are implemented on robot side and are triggered by remote control station commands. The control is shifted to robot during the execution of the task. It is transferred back either at the completion of task or when the interruption occurs from teleoperator. The MOBIT is equipped with CCD camera, two axes inclinometer, magnetic compass and encoders. Joystick is used as an input device on the remote control station to issue high level and low level commands. A graphical user interface is developed to display direct and indirect information for easy interpretation of the data coming from multiple sensors. Locomotion mode shift, step climbing, inversion reposition on a plane surface and slope has been realized. Modular, flexible and expandable control system is developed
Keywords :
control engineering computing; discrete event systems; graphical user interfaces; interactive devices; man-machine systems; mobile robots; telerobotics; MOBIT; graphical user interface; inversion reposition; joystick; locomotion mode shift; motor level control; remote control station commands; step climbing; supervised human-robot interaction; supervised semi-autonomous controls; task level control; Cameras; Charge coupled devices; Charge-coupled image sensors; Control systems; Displays; Graphical user interfaces; Level control; Magnetic sensors; Robot vision systems; Teleoperators; mobile robot; semi autonomous controls; supervised teleoperation;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257572
