NDLI: Design and experiment of a human-touch robot

Content Provider	IEEE Xplore Digital Library
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
Copyright Year	2014
Description	Author affiliation: Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan (Kai-Tai Song; Sin-Yi Jiang; Ming-Han Lin; Cheng-Hei Wu; Yi-Fu Chiu; Wei-Che Lin; Shang-Yang Wu; Chien-Yu Wu)
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.
Sponsorship	IEEE Syst., Man, Cybern. Soc.
Starting Page	275
Ending Page	280
File Size	594891
Page Count	6
File Format	PDF
e-ISBN	9781479945849
DOI	10.1109/CACS.2014.7097201
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-11-26
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Omnidirectional mobile robot Autonomous navigation Robot sensing systems Manipulators Mobile communication Teleoperation Visual servoing Mobile robots Collision avoidance Shared control
Content Type	Text
Resource Type	Article

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