A Stable and Transparent Framework for Adaptive Shared Control of Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook A Stable and Transparent Framework for Adaptive Shared Control of Robots write by Ribin Balachandran. This book was released on 2024-01-29. A Stable and Transparent Framework for Adaptive Shared Control of Robots available in PDF, EPUB and Kindle. Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
Non-Adaptive and Adaptive Control of Manipulation Robots
Non-Adaptive and Adaptive Control of Manipulation Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Non-Adaptive and Adaptive Control of Manipulation Robots write by M. Vukobratovic. This book was released on 2013-12-11. Non-Adaptive and Adaptive Control of Manipulation Robots available in PDF, EPUB and Kindle. The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula tion robots. Compared with Vol. 2, this monograph has three essential new character istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.
Networking Humans, Robots and Environments
Networking Humans, Robots and Environments - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Networking Humans, Robots and Environments write by Nak Y. Chong. This book was released on 2013-09-26. Networking Humans, Robots and Environments available in PDF, EPUB and Kindle. This book dives into the heart of how to design distributed control architectures for heterogeneous teams of humans, robots, and automated systems, enabling them to achieve greater cooperation and autonomy through the use of network technologies. It provides a wide range of practical, proven strategies for pervasive communication and collaborative problem solving abilities of humans, robots, and their environments. Each chapter consists of a presentation of findings from the latest research in networked robots and ambient intelligence. The chapters also detail how to allow robots to achieve universal access to the extended functionality of the environment that brings various cost effective services to those in need. Readers can envision a realistic view of what can be expected from a networked human robot cooperative environment in the next decade.
Adaptive Human-robot Policy Blending for Shared Control Teleoperation
Adaptive Human-robot Policy Blending for Shared Control Teleoperation - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Adaptive Human-robot Policy Blending for Shared Control Teleoperation write by Yoojin Oh. This book was released on 2024. Adaptive Human-robot Policy Blending for Shared Control Teleoperation available in PDF, EPUB and Kindle.
AI based Robot Safe Learning and Control
AI based Robot Safe Learning and Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook AI based Robot Safe Learning and Control write by Xuefeng Zhou. This book was released on 2020-06-02. AI based Robot Safe Learning and Control available in PDF, EPUB and Kindle. This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.
