Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation

Autores
Herrera Anda, Daniel Esteban; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure. Finally, with the best fictitious force and its identified impedance, an impedance control is designed for a mobile robot Pioneer 3AT, which is programmed to follow a human in a structured scenario. According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
Fil: Herrera Anda, Daniel Esteban. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
HUMAN MODELING
HUMAN-MACHINE INTERACTION
IMPEDANCE CONTROL
ROBOT DYNAMICS
SOCIAL ROBOTICS
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:11336/63536
Acceder
id CONICETDig_e2d9835f8ca74eea17177de25f43e8d6
oai_identifier_str oai:ri.conicet.gov.ar:11336/63536
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formationHerrera Anda, Daniel EstebanRoberti, FlavioToibero, Juan MarcosCarelli Albarracin, Ricardo OscarHUMAN MODELINGHUMAN-MACHINE INTERACTIONIMPEDANCE CONTROLROBOT DYNAMICSSOCIAL ROBOTICShttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure. Finally, with the best fictitious force and its identified impedance, an impedance control is designed for a mobile robot Pioneer 3AT, which is programmed to follow a human in a structured scenario. According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.Fil: Herrera Anda, Daniel Esteban. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaInstitute of Electrical and Electronics Engineers2017-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/63536Herrera Anda, Daniel Esteban; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation; Institute of Electrical and Electronics Engineers; IEEE/CAA Journal of Automatica Sinica; 4; 4; 10-2017; 696-7032329-9274CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/8039027/info:eu-repo/semantics/altIdentifier/doi/10.1109/JAS.2017.7510631info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-10T13:11:01Zoai:ri.conicet.gov.ar:11336/63536instacron: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:34982025-09-10 13:11:01.328CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
title Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
spellingShingle Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
Herrera Anda, Daniel Esteban
HUMAN MODELING
HUMAN-MACHINE INTERACTION
IMPEDANCE CONTROL
ROBOT DYNAMICS
SOCIAL ROBOTICS
title_short Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
title_full Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
title_fullStr Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
title_full_unstemmed Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
title_sort Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
dc.creator.none.fl_str_mv Herrera Anda, Daniel Esteban
Roberti, Flavio
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author Herrera Anda, Daniel Esteban
author_facet Herrera Anda, Daniel Esteban
Roberti, Flavio
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Roberti, Flavio
Toibero, Juan Marcos
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
dc.subject.none.fl_str_mv HUMAN MODELING
HUMAN-MACHINE INTERACTION
IMPEDANCE CONTROL
ROBOT DYNAMICS
SOCIAL ROBOTICS
topic HUMAN MODELING
HUMAN-MACHINE INTERACTION
IMPEDANCE CONTROL
ROBOT DYNAMICS
SOCIAL ROBOTICS
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure. Finally, with the best fictitious force and its identified impedance, an impedance control is designed for a mobile robot Pioneer 3AT, which is programmed to follow a human in a structured scenario. According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
Fil: Herrera Anda, Daniel Esteban. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure. Finally, with the best fictitious force and its identified impedance, an impedance control is designed for a mobile robot Pioneer 3AT, which is programmed to follow a human in a structured scenario. According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.
publishDate 2017
dc.date.none.fl_str_mv 2017-10
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/11336/63536
Herrera Anda, Daniel Esteban; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation; Institute of Electrical and Electronics Engineers; IEEE/CAA Journal of Automatica Sinica; 4; 4; 10-2017; 696-703
2329-9274
CONICET Digital
CONICET
url http://hdl.handle.net/11336/63536
identifier_str_mv Herrera Anda, Daniel Esteban; Roberti, Flavio; Toibero, Juan Marcos; Carelli Albarracin, Ricardo Oscar; Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation; Institute of Electrical and Electronics Engineers; IEEE/CAA Journal of Automatica Sinica; 4; 4; 10-2017; 696-703
2329-9274
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/document/8039027/
info:eu-repo/semantics/altIdentifier/doi/10.1109/JAS.2017.7510631
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
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
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
_version_ 1842980559953854464
score 12.993085

Publicaciones similares