A Stable And Transparent Framework For Adaptive Shared Control Of Robots
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| Author | : Ribin Balachandran |
| Publisher | : Springer Nature |
| Total Pages | : 198 |
| Release | : 2024-01-29 |
| Genre | : Technology & Engineering |
| ISBN | : 3031479343 |
Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
| Author | : M. Vukobratovic |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 394 |
| Release | : 2013-12-11 |
| Genre | : Computers |
| ISBN | : 3642822010 |
The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula tion robots. Compared with Vol. 2, this monograph has three essential new character istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.
| Author | : Nak Y. Chong |
| Publisher | : Bentham Science Publishers |
| Total Pages | : 255 |
| Release | : 2013-09-26 |
| Genre | : Technology & Engineering |
| ISBN | : 1608057313 |
This book dives into the heart of how to design distributed control architectures for heterogeneous teams of humans, robots, and automated systems, enabling them to achieve greater cooperation and autonomy through the use of network technologies. It provides a wide range of practical, proven strategies for pervasive communication and collaborative problem solving abilities of humans, robots, and their environments. Each chapter consists of a presentation of findings from the latest research in networked robots and ambient intelligence. The chapters also detail how to allow robots to achieve universal access to the extended functionality of the environment that brings various cost effective services to those in need. Readers can envision a realistic view of what can be expected from a networked human robot cooperative environment in the next decade.
| Author | : Yoojin Oh |
| Publisher | : |
| Total Pages | : 0 |
| Release | : 2024 |
| Genre | : |
| ISBN | : |
| Author | : Xuefeng Zhou |
| Publisher | : Springer Nature |
| Total Pages | : 138 |
| Release | : 2020-06-02 |
| Genre | : Technology & Engineering |
| ISBN | : 9811555036 |
This open access book mainly focuses on the safe control of robot manipulators. The control schemes are mainly developed based on dynamic neural network, which is an important theoretical branch of deep reinforcement learning. In order to enhance the safety performance of robot systems, the control strategies include adaptive tracking control for robots with model uncertainties, compliance control in uncertain environments, obstacle avoidance in dynamic workspace. The idea for this book on solving safe control of robot arms was conceived during the industrial applications and the research discussion in the laboratory. Most of the materials in this book are derived from the authors’ papers published in journals, such as IEEE Transactions on Industrial Electronics, neurocomputing, etc. This book can be used as a reference book for researcher and designer of the robotic systems and AI based controllers, and can also be used as a reference book for senior undergraduate and graduate students in colleges and universities.
| Author | : Aude Billard |
| Publisher | : MIT Press |
| Total Pages | : 425 |
| Release | : 2022-02-08 |
| Genre | : Technology & Engineering |
| ISBN | : 0262367017 |
Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
| Author | : Shuzhi S. Ge |
| Publisher | : World Scientific Series In Robotics And Intelligent Systems |
| Total Pages | : 381 |
| Release | : 1998 |
| Genre | : Technology & Engineering |
| ISBN | : 9789810234522 |
Recently, there has been considerable research interest in neural network control of robots, and satisfactory results have been obtained in solving some of the special issues associated with the problems of robot control in an "on-and-off" fashion. This book is dedicated to issues on adaptive control of robots based on neural networks. The text has been carefully tailored to (i) give a comprehensive study of robot dynamics, (ii) present structured network models for robots, and (iii) provide systematic approaches for neural network based adaptive controller design for rigid robots, flexible joint robots, and robots in constraint motion. Rigorous proof of the stability properties of adaptive neural network controllers is provided. Simulation examples are also presented to verify the effectiveness of the controllers, and practical implementation issues associated with the controllers are also discussed.
| Author | : Adriano A. G. Siqueira |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 234 |
| Release | : 2011-08-14 |
| Genre | : Technology & Engineering |
| ISBN | : 0857298984 |
Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
| Author | : Nancy Pham |
| Publisher | : |
| Total Pages | : 149 |
| Release | : 2020 |
| Genre | : |
| ISBN | : |
Accounting for variance in human behavior is an integral part of interacting with robotic systems that share control between users and robots in order to reduce errors, improve performance, and maintain safety. In this work we focus on the shared control of a telepresence robot and how individual user traits may affect a person's performance while navigating the robot. This requires understanding which user qualities impact performance and cause conflicts - with the ultimate goal of building shared controllers that adapt to those qualities. Toward this goal, we develop novel adaptive shared controllers and integrate the study of intrinsic user qualities alongside the study of these controllers, investigating how users react to different shared control paradigms. We implemented and analyzed two different types of shared controllers: 1) a switching controller that switches between a more relaxed and a more restrictive autonomy, utilizing repulsive potential fields, or "discouraging" methods that push users away from obstacles, and 2) an "Adapt" controller that "pulls" users toward a pre-computed optimal path, "encouraging" movement toward the goal. The Adapt controller utilizes a deliberative planner and accompanying novel "autopilot" mode to help users efficiently complete an obstacle course. We compare robot performance, user preference, and holistic user/robot performance of the shared controllers in the context of the user's intrinsic qualities. We find that there are significant differences in performance with users in different locus of control (LOC) groups, users with differing senses of presence, and users with varying immersive tendencies. Further, we found that our "encouraging" shared controller results in improved holistic user/robot performance compared to a "discouraging," preventive controller. Based on our findings, we give a strong recommendation to use an adaptive shared controller, with varying degrees of control, depending on different user qualities. Further, we give specific guidelines on which types of adaptive shared controllers would be most compatible with the user qualities we studied in order to reduce conflicts, increase human-robot collaboration, and improve overall performance.
| Author | : Muhammad Ali Imran |
| Publisher | : John Wiley & Sons |
| Total Pages | : 326 |
| Release | : 2019-07-31 |
| Genre | : Technology & Engineering |
| ISBN | : 1119515564 |
How 5G technology can support the demands of multiple vertical industries Recent advances in technologyhave created new vertical industries that are highly dependent on the availability and reliability of data between multiple locations. The 5G system, unlike previous generations, will be entirely data driven—addressing latency, resilience, connection density, coverage area, and other vertical industry criteria. Enabling 5G Communication Systems to Support Vertical Industries demonstrates how 5G communication systems can meet the needs unique to vertical industries for efficient, cost-effective delivery of service. Covering both theory and practice, this book explores solutions to problems in specific industrial sectors including smart transportation, smart agriculture, smart grid, environmental monitoring, and disaster management. The 5G communication system will have to provide customized solutions to accommodate each vertical industry’s specific requirements. Whether an industry practitioner designingthe next generation of wireless communications or a researcher needing to identify open issues and classify their research, this timely book: Covers the much-discussed topics of supporting multiple vertical industries and new ICT challenges Addresses emerging issues and real-world problems surrounding 5G technology in wireless communication and networking Explores a comprehensive array of essential topics such as connected health, smart transport, smart manufacturing, and more Presents important topics in a clear, concise style suitable for new learners and professionals alike Includes contributions from experts and industry leaders, system diagrams, charts, tables, and examples Enabling 5G Communication Systems to Support Vertical Industries is a valuable resource telecom engineers industry professionals, researchers, professors, doctorate, and postgraduate students requiring up-to-date information on supporting vertical industries with 5G technology systems.
