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Shared Control Templates for Assistive Robotics

Quere, Gabriel and Hagengruber, Annette and Iskandar, Maged Samuel Zakri and Bustamante Gomez, Samuel and Leidner, Daniel and Stulp, Freek and 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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Official URL: https://ieeexplore.ieee.org/abstract/document/9197041

Abstract

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.

Item URL in elib:https://elib.dlr.de/135803/
Document Type:Conference or Workshop Item (Speech, Other)
Title:Shared Control Templates for Assistive Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Quere, GabrielUNSPECIFIEDhttps://orcid.org/0000-0002-1788-3685UNSPECIFIED
Hagengruber, AnnetteUNSPECIFIEDhttps://orcid.org/0000-0002-8243-1327UNSPECIFIED
Iskandar, Maged Samuel ZakriUNSPECIFIEDhttps://orcid.org/0000-0003-0644-0659UNSPECIFIED
Bustamante Gomez, SamuelUNSPECIFIEDhttps://orcid.org/0000-0002-7923-8307UNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
Vogel, JörnUNSPECIFIEDhttps://orcid.org/0000-0002-1987-0028UNSPECIFIED
Date:2020
Journal or Publication Title:2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICRA40945.2020.9197041
Publisher:IEEE
ISSN:1050-4729
ISBN:978-172817395-5
Status:Published
Keywords:assistive robotics, shared control
Event Title:2020 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Paris, France
Event Type:international Conference
Event Start Date:31 May 2020
Event End Date:31 August 2020
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):Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Quere, Gabriel
Deposited On:26 Aug 2020 16:08
Last Modified:24 Apr 2024 20:38

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