A Stable and Transparent Framework for Adaptive Shared Control of Robots

Balachandran, Ribin (2022) A Stable and Transparent Framework for Adaptive Shared Control of Robots. Dissertation, Technische Universitaet Muenchen.

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Official URL: https://mediatum.ub.tum.de/?id=1633365

Abstract

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.

Item URL in elib:

https://elib.dlr.de/188393/

Document Type:

Thesis (Dissertation)

Title:

A Stable and Transparent Framework for Adaptive Shared Control of Robots

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Balachandran, Ribin	UNSPECIFIED	https://orcid.org/0000-0002-7560-471X	UNSPECIFIED

Date:

2022

Refereed publication:

Yes

Open Access:

Yes

Number of Pages:

180

Status:

Published

Keywords:

Shared control, teleoperation, stability, passivity

Institution:

Technische Universitaet Muenchen

Department:

Fakultaet fuer Informatik

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Robotics

DLR - Research area:

Raumfahrt

DLR - Program:

R RO - Robotics

DLR - Research theme (Project):

R - Telerobotics

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:

03 Nov 2022 09:53

Last Modified:

03 Nov 2022 09:53

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