Quere, Gabriel und Hagengruber, Annette und Iskandar, Maged Samuel Zakri und Bustamante Gomez, Samuel und Leidner, Daniel und Stulp, Freek und Vogel, Jörn (2020) Shared Control Templates for Assistive Robotics. 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. doi: 10.1109/ICRA40945.2020.9197041. ISBN 978-172817395-5. ISSN 1050-4729.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9197041
Kurzfassung
Light-weight robotic manipulators can be used to restore the manipulation capability of people with a motor disability. However, manipulating the environment poses a complex task, especially when the control interface is of low bandwidth, as may be the case for users with impairments. Therefore, we propose a constraint-based shared control scheme to define skills which provide support during task execution. This is achieved by representing a skill as a sequence of states, with specific user command mappings and different sets of constraints being applied in each state. New skills are defined by combining different types of constraints and conditions for state transitions, in a human-readable format. We demonstrate its versatility in a pilot experiment with three activities of daily living. Results show that even complex, high-dimensional tasks can be performed with a low-dimensional interface using our shared control approach.
elib-URL des Eintrags: | https://elib.dlr.de/135803/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Anderer) | ||||||||||||||||||||||||||||||||
Titel: | Shared Control Templates for Assistive Robotics | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | 2020 | ||||||||||||||||||||||||||||||||
Erschienen in: | 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/ICRA40945.2020.9197041 | ||||||||||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||||||||||
ISSN: | 1050-4729 | ||||||||||||||||||||||||||||||||
ISBN: | 978-172817395-5 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | assistive robotics, shared control | ||||||||||||||||||||||||||||||||
Veranstaltungstitel: | 2020 IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||||||||||||||||||||||
Veranstaltungsort: | Paris, France | ||||||||||||||||||||||||||||||||
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): | Vorhaben Intelligente Mobilität (alt) | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Quere, Gabriel | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 26 Aug 2020 16:08 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:38 |
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