DocumentCode :
3588334
Title :
Design and experiment of a human-touch robot
Author :
Kai-Tai Song ; Sin-Yi Jiang ; Ming-Han Lin ; Cheng-Hei Wu ; Yi-Fu Chiu ; Wei-Che Lin ; Shang-Yang Wu ; Chien-Yu Wu
Author_Institution :
Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
fYear :
2014
Firstpage :
275
Lastpage :
280
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.
Keywords :
mobile robots; telecontrol; virtual reality; autonomy control gains; confidence factor; dual-arm omnidirectional mobile robot; home service tasks; human control gains; human remote control; human-touch robot; shared-control based teleoperation design; smart phone; tablet; telepresence; user interface; user remote commands; Collision avoidance; Manipulators; Mobile communication; Mobile robots; Robot kinematics; Robot sensing systems; autonomous navigation; omnidirectional mobile robot; shared control; teleoperation; visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automatic Control Conference (CACS), 2014 CACS International
Print_ISBN :
978-1-4799-4586-3
Type :
conf
DOI :
10.1109/CACS.2014.7097201
Filename :
7097201
Link To Document :
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