Internet control of personal robot between KAIST and UC Davis

摘要

Describes the implementation of an Internet-based personal robot with three control modes, and experimental results on the remote control between KAIST, Korea and UC Davis, USA. The idea is to control a personal robot at the remote site (KAIST) by using a simulator provided at the local site (UC Davis). However, if the information of the current absolute position of the robot at its remote site cannot be estimated, the simulator may be useless. The absolute position of the robot can be determined by comparing a reference map with sensor information from sonar sensors and an electronic compass. A user can use three control modes-direct control mode, supervisory control mode and job scheduling mode, and monitor the current status of the robot using a graphic user interface of the simulator implemented with Java.