本計劃擬使用三年時間，以四大研究方向：機器人之智慧行為、嵌入式遠距無線通訊系統、機械手臂之控制與自然人機互動虛擬平台，以穩定和循序漸進與其他子計畫整合完成一個具有自然互動能力與無線通訊之家管機器人，讓機器人能實際融入人群生活環境與人類達到自然互動。 在本計畫之第一年工作有：可儲存使用者時間排程與語音知會之平台、以LabVIEW平台建立具有連結與接收其它子計畫資訊之無線遠距通訊介面、機械手臂正逆運動學與運動控制之研究和建立自然互動情境。 在本計畫之第二年工作有：完成語音互動能力控制手臂之整合系統、硬體介面與操作介面資料傳輸之驅動程式、操作介面與網路之介面資料封包傳輸、手臂路徑規劃與建立自然互動之虛擬模擬環境。 在本計畫之第三年工作有：完成立體視覺能力之語音互動遠端無線手臂設計模組、多子計畫系統資訊進行軟體分割與建立分散式系統、配合子計畫二的立體視覺與多特徵物體辨識偵測出目標物與家管機器人的相對位置進行計算與控制和將建置與設計之情境架設於家管機器人，並將所虛擬之環境實現與測試於機器人上。 本計畫綜合三年研究與其他子計畫合作之家管型機器人，將會實現一具有語音互動能力、在未知環境中進行探索、具有遠端監控內建功能與警示陌生人通知之功能，與其他子計畫合作完成以上目標，使智慧型家管機器人能更貼近人們日常生活所需。 This project proposes a “Design and Implementation of Natural Interaction Behaviors and Wireless Communication System for Intelligent Home Care Robots.” Our research addresses four topics i) natural interaction ability – where we define various natural interaction behaviors as states of a finite state automata; ii) wireless communication – where this is used as an interface for teleoperation of the robot from a remote site iii) intelligent behavior – where we use ; iv) robotic arm control – where we use feedback linearization for control and potential field path planning for the robot arm. This project is a three project with details as follows. In the first year (2010.8~2011.7), we establish i) voice interaction scheduling, where an interface is used to implement the voice behaviors of a human; ii) an internet-base teleoperative interface, where from a remote site we have a friendly interface to monitor and control the robot; iii) forward and inverse kinematics of the robot arm, where future tasks my be represented as joint velocities and accelerations; and natural interactive scenarios, where behaviors of natural interaction are modeled as state variables with overall system as finite state automata. In the second year (2011.8~2012.7), we develop a voice-based robot arm control, where the robot arm model and voice interaction is integrated to implement intelligent voice arm control behaviors; teleoperative control hardware platform, where the teleoperative interface in the first year is integrated on the robot hardware; robot arm path planning, where we use potential field method to place an obstacle free path; and a natural interaction virtual simulation environment, where we can develop, test and visualize our algorithms a prior to any actual hardware tests. Finally, in the third year (2012.8~2013.7), we integrate 3D visual data with intelligent behavior; multimedia database with the teleoperative control system; the robot arm control with 3D visual data; and implement the virtual simulation environment on actual robot hardware.
