earticle

영어

To improve the robot's locomotion performance, it definitely needs the HRI (Human Robot Interaction) technology, the location awareness technology, and the real time location correction technology. In this paper, an HRI method that uses a circular coordinate system is proposed. The proposed method can implement robot locomotion with variable speed and directions instead of conventional method that controls speed and direction separately. Also, the nine characteristics of proposed circular coordinate system are to be described and the principles of user interfaces using the circular coordinate system are to be analyzed. For the performance evaluation, we have used a mobile robot that can be controlled through the wireless LAN and can perform differential drive. In addition, we have configured and tested a smart phone environment that can control the robot. The evaluation results show that the circular coordinate system reduces the locomotion time with accuracy.