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    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/70536


    作者: Hwang, Chih-Lyang;Wu, Han-Chen;Lu, Nien-Wen;Lin, Ming-Lung;Huang, Chun-Hao;Hsu, Ting-Chia;Luo, I-Chiao;Chou, Hsien-Ju
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Humanoid service robot;Wheeled vehicle;Navigation strategy;Path planning;Man and machine interface;Cooperation motion
    日期: 2008-08
    上傳時間: 2011-10-23 21:24:24 (UTC+8)
    摘要: This paper realizes the humanoid robotic system to service the customers in N tables, and to deliver the ordered meal to the corresponding customer. The proposed system includes the following four subsystems: a humanoid robot with 26 degree-of-freedom, a wheeled vehicle with navigation ability, an N-tables system, and a counter with order collection and task allocation. In the beginning, the orders from the customers in N tables system are transmitted to the counter via the Bluetooth module. After the analysis, the corresponding task is assigned to the humanoid robot. Based on the lines on the ground, the line-follower system under the wheeled vehicle, the designed navigation strategy, and the communication between the humanoid robot and the wheeled vehicle, the humanoid robotic system will walk, turn left or right, drive the vehicle, and reach the neighborhood of the corresponding table. Then the ordered meal is sent to the customer, and then the humanoid robotic and wheeled vehicle return to the counter for the next task. Finally, the experiments valid the usefulness of the proposed system.
    This paper realizes the humanoid robotic system to service the customers in N tables, and to deliver the ordered meal to the corresponding customer. The proposed system includes the following four subsystems: a humanoid robot with 26 degree-of-freedom, a wheeled vehicle with navigation ability, an N-tables system, and a counter with order collection and task allocation. In the beginning, the orders from the customers in N tables system are transmitted to the counter via the Bluetooth module. After the analysis, the corresponding task is assigned to the humanoid robot. Based on the lines on the ground, the line-follower system under the wheeled vehicle, the designed navigation strategy, and the communication between the humanoid robot and the wheeled vehicle, the humanoid robotic system will walk, turn left or right, drive the vehicle, and reach the neighborhood of the corresponding table. Then the ordered meal is sent to the customer, and then the humanoid robotic and wheeled vehicle return to the counter for the next task. Finally, the experiments valid the usefulness of the proposed system.
    關聯: Proceedings of IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2008),6頁
    DOI: 10.1109/ARSO.2008.4653607
    顯示於類別:[電機工程學系暨研究所] 會議論文

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