A teleoperation framework for mobile robots based on shared control

Luo, Jing; Lin, Zhidong; Li, Yanan; Yang, Chenguang

Abstract

Mobile robots can complete a task in cooperation with a human partner. In this letter, a hybrid shared control method for a mobile robot with omnidirectional wheels is proposed. A human partner utilizes a six degrees of freedom haptic device and electromyography (EMG) signals sensor to control the mobile robot. A hybrid shared control approach based on EMG and artificial potential field is exploited to avoid obstacles according to the repulsive force and attractive force and to enhance the human perception of the remote environment based on force feedback of the mobile platform. This shared control method enables the human partner to tele-control the mobile robot's motion and achieve obstacles avoidance synchronously. Compared with conventional shared control methods, this proposed one provides a force feedback based on muscle activation and drives the human partners to update their control intention with predictability. Experimental results demonstrate the enhanced performance of the mobile robots in comparison with the methods in the literature.

• Journal Article Type: Article
• Acceptance Date: Dec 6, 2019
• Online Publication Date: Dec 12, 2019
• Publication Date: Apr 1, 2020
• Deposit Date: Feb 12, 2020
• Publicly Available Date: Feb 13, 2020
• Journal: IEEE Robotics and Automation Letters
• Print ISSN: 2377-3766
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 5
• Issue: 2
• Pages: 377-384
• DOI: https://doi.org/10.1109/lra.2019.2959442
• Keywords: Artificial Intelligence; Computer Vision and Pattern Recognition; Computer Science Applications
• Public URL: https://uwe-repository.worktribe.com/output/5376809