TY - GEN
T1 - Supervised semi-autonomous controls for MOBIT
AU - Rahman, Nasir
AU - Li, Kejie
AU - Duan, Xingguang
AU - Li, Junchen
AU - Li, Jingtao
AU - Huang, Qiang
PY - 2006
Y1 - 2006
N2 - This paper presents semi-autonomous controls of MOBIT [1] 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.
AB - This paper presents semi-autonomous controls of MOBIT [1] 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.
KW - Mobile robot
KW - Semi autonomous controls
KW - Supervised teleoperation
UR - https://www.scopus.com/pages/publications/34247264890
U2 - 10.1109/ICMA.2006.257572
DO - 10.1109/ICMA.2006.257572
M3 - Conference contribution
AN - SCOPUS:34247264890
SN - 1424404665
SN - 9781424404667
T3 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
SP - 429
EP - 434
BT - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
T2 - 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Y2 - 25 June 2006 through 28 June 2006
ER -