TY - GEN
T1 - Robot task control utilizing human-in-the-loop perception
AU - Yu, Wonpil
AU - Lee, Jae Yeong
AU - Chae, Heesung
AU - Han, Kyuseo
AU - Lee, Yucheol
AU - Jang, Minsu
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=52949148992&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2008.4600698
DO - 10.1109/ROMAN.2008.4600698
M3 - Conference contribution
AN - SCOPUS:52949148992
SN - 9781424422135
T3 - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
SP - 395
EP - 400
BT - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
T2 - 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
Y2 - 1 August 2008 through 3 August 2008
ER -