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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/ | ||||||||
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| Document Type: | Thesis (Dissertation) | ||||||||
| Title: | A Stable and Transparent Framework for Adaptive Shared Control of Robots | ||||||||
| Authors: |
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| 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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