DocumentCode :
2597958
Title :
Robot task control utilizing human-in-the-loop perception
Author :
Yu, Wonpil ; Lee, Jae-Yeong ; Chae, Heesung ; Han, Kyuseo ; Lee, Yucheol ; Jang, Minsu
Author_Institution :
U-Robot Res. Div., ETRI (Electron. & Telecommun. Res. Inst.), Daejeon
fYear :
2008
fDate :
1-3 Aug. 2008
Firstpage :
395
Lastpage :
400
Abstract :
We propose a network robot application utilizing a human-in-the-loop structure. The proposed structure hybridizes robot perception with perception capability of a human, rendering a robot immune to the uncontrolled environment. Network infrastructure enables the user to intervene in the operation of a robot whenever necessary, enabling seamless transition of task control between the robot and the remote user. We have developed a prototype security robot system by implementing the proposed human-in-the-loop structure. Introduction of network infrastructure, however, also invokes system instability due to network fluctuation, time delay, or jittering. We could resolve the instability by imparting task intelligence to the robot and employing wireless distribution system (WDS) configuration for seamless data communication beyond the coverage of a single access point. Although our approach may solve only part of problems inherent in networked robots, we found that the developed robot system bears sufficient applicability to real world robotic systems incorporating large-area robot navigation.
Keywords :
navigation; radio networks; telerobotics; human-in-the-loop perception; human-in-the-loop structure; jittering; large-area robot navigation; network fluctuation; network infrastructure; network robot application; networked robots; prototype security robot system; remote user; robot navigation; robot perception; robot task control; robotic systems; seamless data communication; security robot system; system instability; task intelligence; time delay; wireless distribution system configuration; Communication system security; Data communication; Data security; Delay effects; Fluctuations; Humans; Immune system; Intelligent robots; Prototypes; Robot control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-2212-8
Electronic_ISBN :
978-1-4244-2213-5
Type :
conf
DOI :
10.1109/ROMAN.2008.4600698
Filename :
4600698
Link To Document :
بازگشت