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Automated Door Opening Scheme for Non-holonomic Mobile Manipulator
Albertus Hendrawan Adiwahono,Chua Yuanwei,Tee Keng Peng,Liu Bingbing 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper describes a scheme on automated door opening for a non-holonomic mobile manipulator. The perception is done with a fast 2D door plane scan and followed by a 3D door handle recognition. A driving planner is used to drive robot to the intended spot in front of the door with minimum off center error. Then, a simple yet effective downstroke motion of the arm is used to turn the handle. Finally, experiments is used to validate and evaluate the proposed scheme.
A Pilot Study on TeleBot, a Internet-based Teleoperated Robot
Dilip Kumar Limbu,Wong Hong Yee Alvin,Chua Yuanwei,Albertus Hendrawan Adiwahono,Tran Anh Dung,Han Boon Siew 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents a user study on an implemented Internet-based teleoperation robot named TeleBot. The objectives of the study were to: a) test the usability of TeleBot, b) compare two commonly used devices to control TeleBot, and c) understand further development and requirement of TeleBot by examining how operators use TeleBot to complete a specific task. A task-oriented user study that included navigating TeleBot to a specific location and use TeleBot’s arm to touch a “X” marking placed on the door, was designed. Eight participants performed the same task using two different types of device. Both objective and subjective data were collected during the study. The results indicated that a) TeleBot demonstrated a certain level of usability; b) showed that the gamepad was slightly easier to use for teleoperation and finally c) deduced further developmental area for TeleBot.
Audio-Visual Attention Control of a Pan-Tilt Telepresence Robot
Keng Peng Tee,Rui Yan,Yuanwei Chua,Zhiyong Huan 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper presents an audio-visual attention control system to establish focus of attention for a pan-tilt telepresence robot. Our system is able to detect attentions automatically and reliably in a telepresence scenario using audio-visual stimuli based on speech and face detection. We also describe an audio-visual attention fusion method with context-dependent prioritization among competing modules of face tracking and sound localization. In comparison to the current telepresence system, our system involves automatic tracking of users’ movement and the user need not manually control the robot. We further implemented this attention control system on a pan-tilt robot, and performed an experimental study that illustrates tracking performance when interacting in real time with human users.