A Teleoperation Framework for Mobile Robots Based on Shared Control

被引：115

作者：

Luo, Jing ^{[1
,2
]}

Lin, Zhidong ^{[1
]}

Li, Yanan ^{[3
]}

Yang, Chenguang ^{[4
]}

机构：

[1] South China Univ Technol, Key Lab Autonomous Syst & Networked Control, Coll Automat Sci & Engn, Guangzhou 510640, Guangdong, Peoples R China

[2] Imperial Coll Sci Technol & Med, Dept Bioengn, London SW7 2AZ, England

[3] Univ Sussex, Dept Engn & Design, Brighton BN1 9RH, E Sussex, England

[4] Univ West England, Bristol Robot Lab, Bristol BS16 1QY, Avon, England

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 02期

基金：

英国工程与自然科学研究理事会;

关键词：

Hybrid shared control; force feedback; human control intention; human-robot interaction; mobile robots; OBSTACLE AVOIDANCE; UNSTABLE DYNAMICS; MODEL; KNEE;

D O I：

10.1109/LRA.2019.2959442

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Mobile robots can complete a task in cooperation with a human partner. In this letter, a hybrid shared control method for a mobile robot with omnidirectional wheels is proposed. A human partner utilizes a six degrees of freedom haptic device and electromyography (EMG) signals sensor to control the mobile robot. A hybrid shared control approach based on EMG and artificial potential field is exploited to avoid obstacles according to the repulsive force and attractive force and to enhance the human perception of the remote environment based on force feedback of the mobile platform. This shared control method enables the human partner to tele-control the mobile robot's motion and achieve obstacles avoidance synchronously. Compared with conventional shared control methods, this proposed one provides a force feedback based on muscle activation and drives the human partners to update their control intention with predictability. Experimental results demonstrate the enhanced performance of the mobile robots in comparison with the methods in the literature.

引用

页码：377 / 384

页数：8

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