Balachandran, Ribin und Mishra, Hrishik und Cappelli, Matteo und Weber, Bernhard und Secchi, Cristian und Ott, Christian und Albu-Schäffer, Alin Olimpiu (2020) Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. In: 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. IEEE. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020-05-31 - 2020-08-31, Paris, France (Online). doi: 10.1109/ICRA40945.2020.9196941. ISBN 978-172817395-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/document/9196941
Kurzfassung
In the present paper, we propose a novel system-driven adaptive shared control framework in which the autonomous system allocates the authority among the human operator and itself. Authority allocation is based on a metric derived from a Bayesian filter, which is being adapted online according to real measurements. In this way, time-varying measurement noise characteristics are incorporated. We present the stability proof for the proposed shared control architecture with adaptive authority allocation, which includes time delay in the communication channel between the operator and the robot. Furthermore, the proposed method is validated through experiments and a user-study evaluation. the obtained results indicate significant improvements in task execution compared with pure teleoperation.
elib-URL des Eintrags: | https://elib.dlr.de/135313/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Anderer) | ||||||||||||||||||||||||||||||||
Titel: | Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 1 Juni 2020 | ||||||||||||||||||||||||||||||||
Erschienen in: | 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/ICRA40945.2020.9196941 | ||||||||||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||||||||||||||
ISBN: | 978-172817395-5 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Adaptive authority allocation, shared control, teleoperation, Kalman filter, Bayesian filters, stability | ||||||||||||||||||||||||||||||||
Veranstaltungstitel: | 2020 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||||||||||
Veranstaltungsort: | Paris, France (Online) | ||||||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 31 Mai 2020 | ||||||||||||||||||||||||||||||||
Veranstaltungsende: | 31 August 2020 | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik (alt) | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Radhakrishna Balachandran, Ribin | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 29 Jun 2020 13:20 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 07 Jun 2024 08:39 |
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