A teleoperation framework for mobile robots based on shared control

Luo, Jing, Lin, Zhidong, Li, Yanan and Yang, Chenguang (2020) A teleoperation framework for mobile robots based on shared control. IEEE Robotics and Automation Letters, 5 (2). pp. 377-384. ISSN 2377-3766

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Mobile robots can complete a task in cooperation with a human partner. In this paper, 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.

Item Type: Article
Additional Information: This work was partially supported by the Engineering and Physical Sciences Research Council (EPSRC) under Grant EP/S001913, and UK-China Joint Research and Innovation Partnership Fund PhD Placement Programme 201806150139.
Keywords: Hybrid shared control, force feedback, human control intention, human-robot interaction, mobile robots
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Lucy Arnold
Date Deposited: 12 Dec 2019 08:29
Last Modified: 13 Dec 2021 17:02
URI: http://sro.sussex.ac.uk/id/eprint/88729

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