Synergistic human-robot shared control via human goal estimation

Name: Synergistic human-robot shared control via human goal estimation
Author: Amirshirzad, Negin, Kaya, Osman, Öztop, Erhan

İsim	Synergistic human-robot shared control via human goal estimation
Yazar	Amirshirzad, Negin, Kaya, Osman, Öztop, Erhan
Basım Tarihi:	2016
Basım Yeri	- IEEE
Konu	Human-robot interface, Synergistic collaboration, Human intent prediction, Goal estimation, Human-robot interaction
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2-s2.0-85008250463
Kayıt Numarası	cee38585-d19e-42fe-9de3-25d10c8d8144
Lokasyon	Computer Science
Tarih	2016
Örnek Metin	In this paper, we propose and implement a synergistic human-robot collaboration framework, where the robotic system estimates the intent or goal of the human operator while being controlled by the human in real-time. Having an estimate of the goal of the human operator, the system augments the human control signals by its own autonomous control output based on the goal estimate. Consequently, the net control command that drives the robot becomes a mixture of human and robot commands. The motivation for such a collaborative system is to obtain an improved task execution to surpass the performance levels that each party could achieve in solo. This is possible if the developed system can take advantage of the individual skills so as to cover the weakness of the other party. To test and validate the proposed system we realized the framework by using the `ball balancing task' where an anthropomorphic robot arm was required to bring a ball on a tray attached to its end effector to a desired position. Task execution performance was quantified with completion time and positional accuracy. To test the validity of the framework, experiments were conducted in three conditions: full autonomous control, human-in-the-loop control, and shared control. Full autonomous control did not require any human subjects; whereas for the latter two conditions, 10 subjects for each condition were employed to measure task performance of naive solo operators and naive human-robot partners. The performance results indicate that the task can be completed more effectively by the human-robot system compared to human alone or autonomous robot execution in different performance measures.
DOI	10.1109/SICE.2016.7749275

Kaynağa git Özyeğin Üniversitesi

Aramaya Dön

Özyeğin Üniversitesi

Kaynağa git

Synergistic human-robot shared control via human goal estimation

Yazar Amirshirzad, Negin, Kaya, Osman, Öztop, Erhan

Basım Tarihi 2016

Basım Yeri - IEEE

Konu Human-robot interface, Synergistic collaboration, Human intent prediction, Goal estimation, Human-robot interaction

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2-s2.0-85008250463

Kayıt Numarası cee38585-d19e-42fe-9de3-25d10c8d8144

Lokasyon Computer Science

Tarih 2016

Örnek Metin In this paper, we propose and implement a synergistic human-robot collaboration framework, where the robotic system estimates the intent or goal of the human operator while being controlled by the human in real-time. Having an estimate of the goal of the human operator, the system augments the human control signals by its own autonomous control output based on the goal estimate. Consequently, the net control command that drives the robot becomes a mixture of human and robot commands. The motivation for such a collaborative system is to obtain an improved task execution to surpass the performance levels that each party could achieve in solo. This is possible if the developed system can take advantage of the individual skills so as to cover the weakness of the other party. To test and validate the proposed system we realized the framework by using the `ball balancing task' where an anthropomorphic robot arm was required to bring a ball on a tray attached to its end effector to a desired position. Task execution performance was quantified with completion time and positional accuracy. To test the validity of the framework, experiments were conducted in three conditions: full autonomous control, human-in-the-loop control, and shared control. Full autonomous control did not require any human subjects; whereas for the latter two conditions, 10 subjects for each condition were employed to measure task performance of naive solo operators and naive human-robot partners. The performance results indicate that the task can be completed more effectively by the human-robot system compared to human alone or autonomous robot execution in different performance measures.

DOI 10.1109/SICE.2016.7749275