Switched control to human-robot bilateral interaction for guiding people

Autores
Leica Arteaga, Paulo Cesar; Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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
Materia
Human-Robot Interaction
Bilateral Interaction
Mobile Robots
Lyapunov Stability
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/5003
Acceder
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repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Switched control to human-robot bilateral interaction for guiding peopleLeica Arteaga, Paulo CesarToibero, Juan MarcosRoberti, FlavioCarelli Albarracin, Ricardo OscarHuman-Robot InteractionBilateral InteractionMobile RobotsLyapunov Stabilityhttps://purl.org/becyt/ford/3.4https://purl.org/becyt/ford/3https://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaSpringer2014-09info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/5003Leica Arteaga, Paulo Cesar; Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Switched control to human-robot bilateral interaction for guiding people; Springer; Journal of Intelligent & Robotic Systems; 77; 1; 9-2014; 73-930921-0296enginfo:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007%2Fs10846-014-0098-6info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-014-0098-6info:eu-repo/semantics/altIdentifier/doi/info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:49:17Zoai:ri.conicet.gov.ar:11336/5003instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:49:17.326CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Switched control to human-robot bilateral interaction for guiding people
title Switched control to human-robot bilateral interaction for guiding people
spellingShingle Switched control to human-robot bilateral interaction for guiding people
Leica Arteaga, Paulo Cesar
Human-Robot Interaction
Bilateral Interaction
Mobile Robots
Lyapunov Stability
title_short Switched control to human-robot bilateral interaction for guiding people
title_full Switched control to human-robot bilateral interaction for guiding people
title_fullStr Switched control to human-robot bilateral interaction for guiding people
title_full_unstemmed Switched control to human-robot bilateral interaction for guiding people
title_sort Switched control to human-robot bilateral interaction for guiding people
dc.creator.none.fl_str_mv Leica Arteaga, Paulo Cesar
Toibero, Juan Marcos
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
author Leica Arteaga, Paulo Cesar
author_facet Leica Arteaga, Paulo Cesar
Toibero, Juan Marcos
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Toibero, Juan Marcos
Roberti, Flavio
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv Human-Robot Interaction
Bilateral Interaction
Mobile Robots
Lyapunov Stability
topic Human-Robot Interaction
Bilateral Interaction
Mobile Robots
Lyapunov Stability
purl_subject.fl_str_mv https://purl.org/becyt/ford/3.4
https://purl.org/becyt/ford/3
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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
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. 
publishDate 2014
dc.date.none.fl_str_mv 2014-09
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/5003
Leica Arteaga, Paulo Cesar; Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Switched control to human-robot bilateral interaction for guiding people; Springer; Journal of Intelligent & Robotic Systems; 77; 1; 9-2014; 73-93
0921-0296
url http://hdl.handle.net/11336/5003
identifier_str_mv Leica Arteaga, Paulo Cesar; Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Switched control to human-robot bilateral interaction for guiding people; Springer; Journal of Intelligent & Robotic Systems; 77; 1; 9-2014; 73-93
0921-0296
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007%2Fs10846-014-0098-6
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-014-0098-6
info:eu-repo/semantics/altIdentifier/doi/
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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