Switched control to human-robot bilateral interaction for guiding people

Authors
Leica Arteaga, Paulo Cesar; Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar
Publication Year
2014
Language
English
Format
article
Status
Published version
Description
This paper presents a switched control strategy to interprete and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when performing the specific task of tracking a mobile robot. This model is useful for the purposes of the control system design and its associated stability analysis. A switched system is proposed to model the complete human-robot behavior. The switching strategy is based on the human-robot relative position and on the human intention to follow the robot. Control errors are defined in terms of human to robot and robot to path instantaneous distances. Stability analysis for the individual controllers, as well as for the complete switching system, are provided by considering Lyapunov theory. Real human-robot interaction experiments show the good performance of the proposed control strategy. 
Fil: Leica Arteaga, Paulo Cesar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Subject
Human-robot interaction
Bilateral interaction
Mobile robots
Lyapunov stability
Biotecnología relacionada con la Salud
Biotecnología de la Salud
CIENCIAS MÉDICAS Y DE LA SALUD
Control Automático y Robótica
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
INGENIERÍAS Y TECNOLOGÍAS
Access level
Restricted access
License
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repository
CONICET Digital (CONICET)
Institution
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identifier
oai:ri.conicet.gov.ar:11336/5003