A Stable and Transparent Framework for Adaptive Shared Control of Robots

Kurzfassung

In mixed-initiative haptic shared control of robots, humans and automatic control system work in parallel. The commands to the robot are a weighted sum of forces from these two agents. This thesis develops control methods to improve the force feedback performance for mixed-initiative shared teleoperation and to adapt the control authority between human and automatic control system in a stable manner even in the presence of communication delays. All methods are validated on real robotic hardware.