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Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters

Balachandran, Ribin and Mishra, Hrishik and Cappelli, Matteo and Weber, Bernhard and Secchi, Cristian and Ott, Christian and 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), Paris, France (Online). doi: 10.1109/ICRA40945.2020.9196941. ISBN 978-172817395-5. ISSN 1050-4729.

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Official URL: https://ieeexplore.ieee.org/document/9196941

Abstract

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.

Item URL in elib:https://elib.dlr.de/135313/
Document Type:Conference or Workshop Item (Other)
Title:Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Mishra, Hrishikhrishik.mishra (at) dlr.deUNSPECIFIED
Cappelli, MatteoMatteo.Cappelli (at) dlr.deUNSPECIFIED
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Secchi, Cristiancristian.secchi (at) unimore.itUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:1 June 2020
Journal or Publication Title:2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI :10.1109/ICRA40945.2020.9196941
Publisher:IEEE
ISSN:1050-4729
ISBN:978-172817395-5
Status:Published
Keywords:Adaptive authority allocation, shared control, teleoperation, Kalman filter, Bayesian filters, stability
Event Title:2020 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Paris, France (Online)
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Radhakrishna Balachandran, Ribin
Deposited On:29 Jun 2020 13:20
Last Modified:11 Mar 2022 16:03

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