「世大智科/天才家居」-我們創業囉
Contact Professor: Yeh-Liang Hsu (徐業良)

九十四學年度元智大學機械工程研究所馬安一碩士論文

Master thesis by A. I. Ma, Mechanical Engineering Department, Yuan Ze University, 2006

94碩士論文:以分散式資料伺服器為核心之遠端臨場機器人之研發

  本研究應用遠端臨場技術,研發一以溝通、互動能力為核心之遠端臨場機器人。機器人系統核心是以單晶片為基之分散式資料伺服器,使用者可透過網際網路登入至機器人中遙控機器人,並與遠端人們溝通、互動。在遠端臨場技術應用面,機器人具有遠端控制、環境資訊回傳、單向影像與雙向音訊之傳遞功能,在溝通與互動方面,開發了表情傳遞、Follow Me、Look at that功能,遠端使用者透過機器人與近端使用進行互動,機器人本身也具自主行為能力,執行自動導航與閃避障礙物功能。遠端臨場機器人控制權一般是由遠端使用者所掌控,為了增加互動性與操控的方便性,本研究提出了控制權分享機制,遠端使用者可將機器人行動與觀看的控制權分享給近端使用者、環境、與機器人本身。

Development of Teleprsence Robot Based on the Distributin Data Server

  A telepresence robot is developed for communication and interaction. The core of the robot is a microcontroller-based distributed data server, and the user can login the telepresence robot through the Internet to control the robot and interact with remote participants. The robot has basic telepresence functions including remote control, feedback of environment information, one-way video and two-way audio communication. Functions such as emotional expression, “follow me”, and “look at that” are also designed in the robot for communication and interaction. The robot also has autonomous behaviors such as automatic guidance and avoided obstacles. To enhance the interaction and control ability of the robot, a control authority sharing mechanism is proposed in this research. The user can share the control authority of movement and viewing with the remote participants, remote environment, and robot itself.
Academic Thesis
Last Updated:2010/5/11