機器人組
Intelligent Robot Group

我們的目標在於讓機器人能夠在真實環境中提供各式各樣的服務,並且改進人和機器人之間的互動。自從在軟體和硬體的改進後,機器人
領域已經獲得廣泛的注意,因此本組想要將機器人研究更進一步,使得機器人能夠更加聰明以處理現實環境中的問題,為了能夠在可見的
未來使機器人能有效的被應用,機器人必定必須和人群互動。所以我們的研究也是專注在人機互動以及人工智慧上,使機器人能夠了解人
們的意圖並推論適當的反應。
Our goal is to make robots capable of providing services in the real environment and improving interactions between robots and
human. The mobile robot research has gained lots of attention since the breakthrough both on algorithms and hardware. Therefore,
we want to push it further, and make robots more intelligent to deal with the real world problems. In order to introduce robots to
the near future, the robots must have the ability to interact with people. As a result, our research also focused on H.R.I. and AI,
so the robot could understand the human intentions and infer the proper reactions.
目前本組大致有以下研究方向:
1. 機器人視覺 – 我們可以從影像獲得豐富的資訊,因此機器人組致力於發展機器人視覺系統。
A. 物體辨識 B. 姿態變識、人類辨識、臉部辨識 C. 視覺式SLAM
2. 移動機器人系統 – 我們與電機系傅立成老師的尖端控制實驗室合作
A. 控制系統:機器人導航、行為控制、路徑規劃 B. 定位
3. 人機互動
A. 知識庫推理 B. 強化學習
Currently, our group has following reserach direction:
1. Robot Vision – Our group have been focused on robot vision system because we can get rich information from cameras.
A. Object Recognition B. Tracking / Gesture Recognition / Human Detection / Face Recognition C. Visual SLAM
2. Mobile Robot System – We cooperate with Advanced Control Lab of EE department ( Also Prof. Fu’s Lab ).
A. Control System : Robot Navigation / Behavior Control / Path Planning B. Mapping and Localization
3. Human Robot Interaction
A. Knowledge Base Reasoning B. Reinforcement Learning

Research

辦公室多功能智慧型秘書機器人 - ARIO

辦公室多功能智慧型秘書機器人 – ARIO
Multi-Functional Intelligent Secretary Robot in a Smart Office – ARIO

本計劃已針對辦公室環境完成設計、組裝一台全新的人工智慧互動式服務型機器人。其中機器人可在辦公室環境中,提供多樣性的服務;本研究團隊也根據各種辦公室情境賦予機器人各種不同的功能使得其可與辦公室成員共同合作。此外,本團隊更建置了一套更自然的方式提供辦公室成員與機器人互動,辦公室成員可經由觸控式介面與機器人互動,以及經由機器人身上的麥克風透過語音辨識系統直接透過聲控的方式與機器人互動。然而,由於辦公室環境是非常多變的,因此本團隊研發出一套情境感知系統,使得此辦公室機器人可以更靈活的於辦公室環境中提供服務,同時透過有限狀態機來處理各種緊急任務以及辦公室成員所要求的服務。

This project presents our new intelligent interactive robot, which is constructed to eagerly provide multi-functional services in an office environment. We investigate the conditions under which users can accept collaborating work with a robot in an office environment as well as general users’ expectation of the robot’s ability. Since the office environment is dynamic, this project proposes a context-aware navigation method to deal with some situations which may take place in the office environment. For overall situation, we design a finite state machine (FSM) approach to enable the robot to solve the emergent tasks and to accommodate human users in real office environment.

輔助行走機器人 - Walker

輔助行走機器人 – Walker
Auxiliary walking robot

本計劃提出了一個於主動式助行器機器人平台,基於情境感知的步行輔助系統。隨著已開發國家中,老年人口比例持續上升,未來照護人員與老年人的比例將會大幅下降。因此,我們需要步行輔助機器人,彌補照護人員的不足。由於主要使用者為手術過後的老人,其行動相當不便。為了省去使用者尋找機器人的困擾,當使用者想要使用機器人時,只需按下遙控按鈕,機器人便會自動到達使用者所在的位置。機器人身上備有雷射測距儀,可偵測環境資訊,並根據預載的地圖,先進行定位再進行導航,以駛向使用者的位置。

The project proposes an active walker robot platform, based on context-aware of walking aids. With the proportion of elderly population continues to rise in developed countries, the proportion of elderly people and the caregivers will decline. Therefore, we need a walking aid robot to make up for lack of caregivers. Since the main users are the elderly after the surgery, their actions are quite inconvenient. In order to save users inconvenience in searching for the robot, when a user wants to use a robot, simply press the remote control button, the robot will automatically reach the position of the user. Robots equipped with laser rangefinder can detect environmental information, and in accordance with pre-loaded maps, first locate and then navigate to sail to the user’s location.

家庭環境之視覺定位技術

家庭環境之視覺定位技術
Visual Simultaneous Localization and Mapping in Living environment

本計畫於期末旨在發展一個能以視覺方式進行環境地圖建置與機器人自行定位系統,首先讓機器人利用多攝影機搭配測程法(Odometry) 對行經之周圍的場景進行拍攝,再將攝得之影像做特徵擷取並儲存於適當的資料庫中,接著利用擴展卡爾曼濾波器(Extended Kalman Filter)技術,配合環境特徵的方位角資訊達成Landmarks初始化,利用所屬的狀態向量(State Vector)同時紀錄Landmarks的座標與機器人位置,此技術稱之為視覺同步定位與地圖建置(Visual SLAM) 。

The project aims to develop a robot building a map of indoor environments and self-localization system. At first, the robot uses multiple cameras with odometry and is commanded to wander around the environment and to take pictures of the surroundings. All the pictures are then extracted features and stored in a well-designed database. In second phase, we use a EKF-based localization method and bearing only information of features in images to initial landmarks, maintaining the robot pose and the coordinate of landmarks by the state vector with EKF. The mentioned method is Simultaneous localization and mapping (Visual SLAM).

Members

TitleNameDurationEmail
博士研究生 Ph.D. student陳彥后 Ian Chen(2015-)b91611014@gmail.com
碩士研究生 M.S. student郭行之 Jacky Guo(2015-)guoxingzhi@gmail.com
碩士研究生 M.S. student楊竣棠 Jiun-Tang Yang(2015-)​johnny87901@gmail.com
碩士研究生 M.S. student吳秉蒼 Ping-Tsang Wu(2016-)alanwu6fssh@gmail.com
碩士研究生 M.S. student吳宗澤 Zong-Ze Wu(2016-)​r05921012@ntu.edu.tw
碩士研究生 M.S. studentCesar Molano(2016-)renokx@gmail.com
碩士研究生 M.S. studentVicente Queiroz(2016-)vicentetqueiroz@gmail.com
碩士研究生 M.S. student楊喬宇 Joey Yang(2017-)bxj840124@gmail.com
碩士研究生 M.S. student黃宇謙 Yu-Cian Huang(2017-)r06922072@ntu.edu.tw
碩士研究生 M.S. student蕭羽庭 Yu-Ting Hsiao(2017-)xiaoyuting0819@gmail.com
碩士研究生 M.S. student朱啟維 Chi-Wei Chu(2017-)r06921013@ntu.edu.tw
碩士研究生 M.S. student詹少宏 Shao-Hung Chan(2017-)shaohung1113@gmail.com
博士後研究生 Postdoc曾士桓 Shih-Huan Tseng(2007-2016)shihhuan.tseng@gmail.com
畢業學生吳宜倫 Yi-Luen Wu(2015-2017)
畢業學生張瑞紘 Ray Chang(2015-2017)
畢業學生趙姸 Yen Chao(2014-2016)
畢業學生林敬 Ching Lin(2014-2016)
畢業學生鄭靖螢 Cheng-Ying Zheng(2013-2015)
畢業學生吳東諺 Tung-Yen Wu(2013-2015)
畢業學生朱庭升 Tin-Sheng Chu(2012-2014)
畢業學生蔣亦修 Yi-Shiu Jiang(2012-2014)
畢業學生林仲達 Chung-Dial Lin(2012-2014)
畢業學生廖建科 Chien-ke Liao(2011-2013)
畢業學生許元翰 Yuan-Han Xui(2011-2013)
畢業學生俞冠廷 Guan-Ting Yu(2010-2012)
畢業學生牟偉豪 Wei-Hao Mou(2010-2012)
畢業學生黃國禎 Guo-Zhen Huang(2009-2011)
畢業學生楊典修 Tien-Hsiu Yang(2008-2010)
畢業學生余嘉淵 Jia-Yuan Yu(2008-2010)
畢業學生郭維禎 Wei-Zhen Kuo(2007-2009)
畢業學生彭禹安 Yu-An Peng
畢業學生袁維均 Wei-Jun Yuan

Journal Paper

Title
Shih-Huan Tseng, Yen Chao, Ching Lin, Li-Chen Fu. “Service robots: System design for tracking people through data fusion and initiating interaction with the human group by inferring social situations”, Robotics and Autonomous Systems, 2016.
Chung Dial Lim, Chia-Ming Wang, Ching-Ying Cheng, Yen Chao, Shih-Huan Tseng, Li-Chen Fu. “Sensory Cues Guided Rehabilitation Robotic Walker Realized by Depth Image-Based Gait Analysis”, IEEE Transactions on Automation Science and Engineering, 13(1), 171-180, 2016.
Chi-Pang Lam, Chen-Tun Chou, Kuo-Hung Chiang, and Li-Chen Fu.「Human-Centered Robot Navigation—Towards a Harmoniously Human–Robot Coexisting Environment,」Robotics, IEEE Transactions on Robotics (TRO) 2011
M.C. Shiu, L.C. Fu, H.T. Lee, F.L. Lian "Modular Design of Reconfigurable Electromagnetic Robots". Advanced Robotics, No. 7, Vol. 24, pp. 1059-1078, 2010
Chih-Fu Chang and Li-Chen Fu. "Control Framework of A Multi-Agent System with Hybrid Approach". Journal of Chinese Engineering, 2006.
Chih-Fu Chang, Jane Hsu and Li-Chen Fu. "Dynamic Game Based Hybrid Multi-Agent Control". International Journal of Electric Business Management, 2006.

Conference Paper

Title
Chiao-Yu Yang, Ming-Jen Lu, Shih-Huan Tseng, Li-Chen Fu, "A Companion Robot for Daily Care of Elders based on Homeostasis", the Society of Instrument and Control Engineers (SICE), Japan, 2017.
Ching Lin, Rui-Hong Zhang, Shih-Huan Tseng, Li-Chen Fu, "A Homeostasis Based Decision Making System on Human-Aware Autonomous Service Robot", International conference on Advanced Robotics and Intelligent Systems (ARIS), Taiwan, 2017.
Ching-Ying Cheng, Xiaobei Qian, Shih-Huan Tseng, Li-Chen Fu, “Recommendation Dialogue System through Pragmatic Argumentation.”, IEEE International Symposium on Robot and Human Interactive Communication (ROMAN), Portugal, 2017.
"Human Gait Reconstruction and Analysis from Frontal View of Partial Lower Limbs on Assistive Robotic Walker" Chia-Ming Wang,Chung Dial Lim,Ting-Sheng Chu,Yi-Shiu Chiang and Li-Chen Fu IEEE Workshop on International Symposium on Robot and Human Interactive Communication, 2014
"Active Learning on Service Providing Model: Adjustment of Robot Behaviors through Human Feedback" Shih-Huan Tseng, Feng-Chih Lu and Li-Chen Fu IEEE Workshop on International Symposium on Robot and Human Interactive Communication, 2014
"Multi-Human Spatial Social Pattern Understanding for a Multi-Modal Robot through Nonverbal Social Signals" Shih-Huan Tseng, Yuan-Han Hsu, Yi-Shiu Chiang, Tung-Yen Wu and Li-Chen Fu IEEE International Symposium on Robot and Human Interactive Communication, 2014
"Vision based Gait Analysis on Robotic Walking Stabilization System for Patients with Parkinson's Disease" Chien-Ke Liao, Chung Dial Lim, Ching-Ying Cheng, Cheng-Ming Huang and Li-Chen Fu IEEE International Conference on Automation Science and Engineering, 2014
"Human-Robot Interaction with Multi-Human Social Pattern Inference on a Multi-Modal Robot" Shih-Huan Tseng , Tung-Yen Wu , Ching-Ying Cheng and Li-Chen Fu International Conference on Control, Automation and Systems, 2014
"Grasping Unknown Objects Using Depth Gradient Feature With Eye-in-hand RGB-D Sensor" Yu-Chi Lin, Shao-Ting Wei and Li-Chen Fu IEEE International Conference on Automation Science and Engineering, 2014
"Perceiving Intimacy from Both Robot View and First-Person View in Dyadic Human Interaction" Ting-Sheng Chu, Yi-Shiu Chiang, Chung Dial Lim, Tung-Yen Wu, Shih-Huan Tseng and Li-Chen Fu IEEE Workshop on Advanced Robotics and its Social Impacts, 2014
"Personalizing Robot Behavior for Interruption in Social Human-Robot Interaction" Yi-Shiu Chiang, Ting-sheng Chu, Chung Dial Lim, Tung-Yen Wu, Shih-Huan Tseng and Li-Chen Fu IEEE Workshop on Advanced Robotics and its Social Impacts, 2014
Yu, Kuan-Ting, Shih-Huan Tseng, and Li-Chen Fu."Learning Hierarchical Representation with Sparsity for RGB-D Object Recognition" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Wei-Hao Mou, Ming-Fang Chang, Chien-Ke Liao, Yuan-Han Hsu, Shih-Huan Tseng, and Li-Chen Fu. "Context-Aware Assisted Interactive Robotic Walker for Parkinson’s Disease Patients" IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Kai Siang Ong, Yuan-Han Hsu,and Li-Chen Fu."Sensor Fusion Based Human Detection and Tracking System for Human-Robot Interaction"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
Ju-Hsuan Hua, Shih-Huan Tseng, Shao-Po Ma, Jie Fu, Li-Chen Fu,"Decision-Networks based Attentive HRI by Reasoning Human Intention and Preferences" The 43rd Intl. Symp. on Robotics (ISR2012),Taipei, Taiwan, Aug. 29-31, 2012
Kuo-Chen Huang; Shih-Huan Tseng; Wei-Hao Mou; Li-Chen Fu;"Simultaneous localization and scene reconstruction with monocular camera" Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.2102-2107, 14-18 May 2012.
Shih-Huan Tseng et al."Intelligent interactive robot in an office environment"Proceedings of 2011 International Conference on Service and Interactive Robots.
Chen Tun Chou, Jiun-Yi Li, Ming-Fang Chang, and Li Chen Fu."Multi-robot Cooperation Based Human Tracking System Using Laser Range Finder" IEEE International Conference on Robotics and Automation, 2011( ICRA 2011).
Chi-Pang Lam, Chen-Tun Chou, Kuo-Hung Chiang, and Li-Chen Fu. "Human-Centered Robot Navigation—Towards a Harmoniously Human–Robot Coexisting Environment" Robotics, IEEE Transactions on Robotics (TRO) 2010 International Conference.
Cheng-Kai Lin, Li-Chen Fu, Tian-Hua Liu. "Design and Implementation of Nonlinear Speed Controller with Adaptive Backstepping Sliding Mode Control Technique for an IPMSM Drive System" Proc. of SICE 2010 Annual Conference, Taipei, Taiwan, August, 18-21, 2010.
Kuo-Chen Huang, Jiun-Yi Li, Li-Chen Fu. "Human-Oriented Navigation for Service Providing in Home Environment" Proc. of SICE 2010 Annual Conference, Taipei, Taiwan, August, 18-21,2010.
Jen-Te Yu, Cheng-Kai Lin, Li-Chen Fu, Tian-Hua Liu. "Adaptive Backstepping Servo Control for IPMSM Drive Systems with MTPA - An Implicit and Symbolic Computation Approach" Proc. of SICE 2010 Annual Conference, Taipei, Taiwan, August, 18-21, 2010.
Kuan-Ting Yu, Chi-Pang Lam, Ming-Fang Chang, Wei-Hao Mou, Shi-Huan Tseng, and Li-Chen Fu. "An Interactive Robotic Walker for Assisting Elderly Mobility in Senior Care Unit", in Proceedings of the IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO 2010), Seoul, Korea, October 2010.
Jia-Yuan Yu, Shih-Huan Tseng, Kuo-Chen Huang, Li-Chen Fu, and Hsiang-Wen Hsieh. "Hierarchical Vision-based Localization using Conspicuous Objects for Robots in Home Environments", Computer Vision, Graphics, and Image Processing, 2010.
Wei-Jen Kuo, Shih-Huan Tseng, Jia-Yuan Yu, and Li-Chen Fu. "A Hybrid Approach to RBPF Based SLAM with Grid Mapping Enhanced by Line Matching", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
Kuo-Hung Chiang, Chi-Pang Lam, Wei-Jen Kuo, Chen-Tun Chou, Jia-Yuan Yu, Tien-Hsiu Yang, Shih-Huan Tseng and Li-Chen Fu. "Attentive Entertainment Robot in a Smart Home Environment", International Conference on Automation Technology, 2009.
Yu-An Peng, Shih-Huan Tseng, Jia-Yuan Yu, Li-Chen Fu, and Shyh-Roei Wang. "Vision-based Global Localization of Large-Scale Indoor Environments with Hierarchical Map", Workshop on Image Processing, Computer Graphics, and Multimedia Technologies, National Computer Symposium, 2009.

Master Thesis

Title
Yu, Kuan-Ting.「Human-Context Mapping for Human-Centric Robot Service in Office Environment」,Master Thesis, 2012.
Wei-Hao Mou.「Context-Aware Interactive Walking-Aid Robotic Walker」,Master Thesis, 2012
Kuo-Chen Huang. 「Simultaneous Localization and Scene Reconstruction with Monocular Camera」,Master Thesis, 2011. Jia-Yuan Yu. 「A Flexible Feature Selection Strategy for Improving Bearing-only SLAM」, Master Thesis, 2010.
Wei-Jen Kuo. 「FG-SLAM: A Hybrid Approach to Grid Based Mapping Enhanced by Geometric Features」, Master Thesis, 2009.
Peng Yu-An. 「Vision-based Global Localization of Large-Scale Indoor Environments with Hierarchical Map」, Master Thesis, 2008