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.
A Stable and Transparent Framework for Adaptive Shared Control of Robots
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.
Adaptive Shared Autonomy Between Human and Robot to Assist Mobile Robot Teleoperation
Adaptive Shared Autonomy Between Human and Robot to Assist Mobile Robot 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 Shared Autonomy Between Human and Robot to Assist Mobile Robot Teleoperation write by . This book was released on 2018. Adaptive Shared Autonomy Between Human and Robot to Assist Mobile Robot Teleoperation available in PDF, EPUB and Kindle.
Trends in Control and Decision-Making for Human–Robot Collaboration Systems
Trends in Control and Decision-Making for Human–Robot Collaboration Systems - 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 Trends in Control and Decision-Making for Human–Robot Collaboration Systems write by Yue Wang. This book was released on 2017-01-24. Trends in Control and Decision-Making for Human–Robot Collaboration Systems available in PDF, EPUB and Kindle. This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience from both physical human-robot interaction and social human-robot interaction. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic areas include resource optimization (human and robotic), safety in collaboration, human trust in robot and decision-making when collaborating with robots, abstraction of swarm systems to make them suitable for human control, modeling and control of internal force interactions for collaborative manipulation, and the sharing of control between human and automated systems, etc. Control and decision-making algorithms feature prominently in the text, importantly within the context of human factors and the constraints they impose. Applications such as assistive technology, driverless vehicles, cooperative mobile robots, manufacturing robots and swarm robots are considered. Illustrative figures and tables are provided throughout the book. Researchers and students working in controls, and the interaction of humans and robots will learn new methods for human–robot collaboration from this book and will find the cutting edge of the subject described in depth.
Human-in-the-Loop Robot Control and Learning
Human-in-the-Loop Robot Control and Learning - 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 Human-in-the-Loop Robot Control and Learning write by Luka Peternel. This book was released on 2020-01-22. Human-in-the-Loop Robot Control and Learning available in PDF, EPUB and Kindle. In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
