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 thi...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.展开更多
In recent years, multiple applications have emerged in the area of payload transport using unmanned aerial vehicles(UAVs). This has attracted considerable interest among the scientific community, especially the cases ...In recent years, multiple applications have emerged in the area of payload transport using unmanned aerial vehicles(UAVs). This has attracted considerable interest among the scientific community, especially the cases involving one or several rotarywing UAVs. In this context, this work proposes a novel measurement system which can estimate the payload position and the force exerted by it on the UAV. This measurement system is low cost, easy to implement, and can be used either in indoor or outdoor environments(no sensorized laboratory is needed). The measurement system is validated statically and dynamically. In the first test, the estimations obtained by the system are compared with measurements produced by high-precision devices. In the second test, the system is used in real experiments to compare its performance with the ones obtained using known procedures. These experiments allowed to draw interesting conclusions on which future research can be based.展开更多
文摘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.
基金by National Scientific and Technical Research Council(CONICET)the National University of San Juan(UNSJ),both from Argentina.
文摘In recent years, multiple applications have emerged in the area of payload transport using unmanned aerial vehicles(UAVs). This has attracted considerable interest among the scientific community, especially the cases involving one or several rotarywing UAVs. In this context, this work proposes a novel measurement system which can estimate the payload position and the force exerted by it on the UAV. This measurement system is low cost, easy to implement, and can be used either in indoor or outdoor environments(no sensorized laboratory is needed). The measurement system is validated statically and dynamically. In the first test, the estimations obtained by the system are compared with measurements produced by high-precision devices. In the second test, the system is used in real experiments to compare its performance with the ones obtained using known procedures. These experiments allowed to draw interesting conclusions on which future research can be based.
