Human-robot formation control via visual and vibrotactile haptic feedback
Identifieur interne : 000054 ( Hal/Checkpoint ); précédent : 000053; suivant : 000055Human-robot formation control via visual and vibrotactile haptic feedback
Auteurs : Stefano Scheggi [Italie] ; Fabio Morbidi [France] ; Domenico Prattichizzo [Italie]Source :
- IEEE Transactions on Haptics (ToH) [ 1939-1412 ] ; 2014-10-01.
English descriptors
- mix :
Abstract
In this paper we present a new visuo-haptic interaction mechanism for human-robot formation control. The formation setup consists of a human leader and multiple follower robots. The mobile robots are equipped only with RGB-D cameras, and they should maintain a desired distance and orientation to the leader at all times. Mechanical limitations common to all the robots limit the possible trajectories that the human can take. In this regard, vibrotactile feedback provided by a haptic bracelet guides the human along trajectories that are feasible for the team by warning him/her when the formation constraints are being violated. Psychophysical tests on the bracelet together with real-world experiments conducted with a team of Pioneer robots show the effectiveness of the proposed visuo-haptic paradigm for the coordination of mixed human-robot teams.
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DOI: 10.1109/TOH.2014.2332173
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The formation setup consists of a human leader and multiple follower robots. The mobile robots are equipped only with RGB-D cameras, and they should maintain a desired distance and orientation to the leader at all times. Mechanical limitations common to all the robots limit the possible trajectories that the human can take. In this regard, vibrotactile feedback provided by a haptic bracelet guides the human along trajectories that are feasible for the team by warning him/her when the formation constraints are being violated. Psychophysical tests on the bracelet together with real-world experiments conducted with a team of Pioneer robots show the effectiveness of the proposed visuo-haptic paradigm for the coordination of mixed human-robot teams.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Human-robot formation control via visual and vibrotactile haptic feedback</title><author role="aut"><persName><forename type="first">Stefano</forename><surname>Scheggi</surname></persName><email>scheggi@dii.unisi.it</email><idno type="halauthor">998102</idno><affiliation ref="#struct-389505"></affiliation></author><author role="aut"><persName><forename type="first">Fabio</forename><surname>Morbidi</surname></persName><email>fabio.morbidi@inria.fr</email><idno type="halauthor">998020</idno><affiliation ref="#struct-45516"></affiliation><affiliation ref="#struct-24470"></affiliation></author><author role="aut"><persName><forename type="first">Domenico</forename><surname>Prattichizzo</surname></persName><email>domenico@dii.unisi.it</email><idno type="halauthor">998103</idno><affiliation ref="#struct-389506"></affiliation></author><editor role="depositor"><persName><forename>Fabio</forename><surname>Morbidi</surname></persName><email>fabio.morbidi@gmail.com</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2014-06-09 20:17:14</date><date type="whenWritten">2014-06-09</date><date type="whenModified">2016-02-10 16:18:19</date><date type="whenReleased">2014-06-09 20:17:14</date><date type="whenProduced">2014-10-01</date></edition><respStmt><resp>contributor</resp><name key="192929"><persName><forename>Fabio</forename><surname>Morbidi</surname></persName><email>fabio.morbidi@gmail.com</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-01003099</idno><idno type="halUri">https://hal.archives-ouvertes.fr/hal-01003099</idno><idno type="halBibtex">scheggi:hal-01003099</idno><idno type="halRefHtml">IEEE Transactions on Haptics (ToH), IEEE, 2014, 7 (4), pp.499-511. <10.1109/TOH.2014.2332173></idno><idno type="halRef">IEEE Transactions on Haptics (ToH), IEEE, 2014, 7 (4), pp.499-511. <10.1109/TOH.2014.2332173></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - 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Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno><idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno><idno type="stamp" n="INRIA2">INRIA 2</idno><idno type="stamp" n="UPJV-MIS-PR">équipe Perception Robotique du laboratoire Modélisation, Information & Systèmes (Université de Picardie Jules Verne)</idno></seriesStmt><notesStmt><note type="commentary">accepted on June 9</note><note type="audience" n="2">International</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Human-robot formation control via visual and vibrotactile haptic feedback</title><author role="aut"><persName><forename type="first">Stefano</forename><surname>Scheggi</surname></persName><email>scheggi@dii.unisi.it</email><idno type="halAuthorId">998102</idno><affiliation ref="#struct-389505"></affiliation></author><author role="aut"><persName><forename type="first">Fabio</forename><surname>Morbidi</surname></persName><email>fabio.morbidi@inria.fr</email><idno type="halAuthorId">998020</idno><affiliation ref="#struct-45516"></affiliation><affiliation ref="#struct-24470"></affiliation></author><author role="aut"><persName><forename type="first">Domenico</forename><surname>Prattichizzo</surname></persName><email>domenico@dii.unisi.it</email><idno type="halAuthorId">998103</idno><affiliation ref="#struct-389506"></affiliation></author></analytic><monogr><idno type="halJournalId" status="VALID">64491</idno><idno type="issn">1939-1412</idno><title level="j">IEEE Transactions on Haptics (ToH)</title><imprint><publisher>IEEE</publisher><biblScope unit="volume">7</biblScope><biblScope unit="issue">4</biblScope><biblScope unit="pp">499-511</biblScope><date type="datePub">2014-10-01</date></imprint></monogr><idno type="doi">10.1109/TOH.2014.2332173</idno></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">Autonomous vehicles</term><term xml:lang="en">Vibrotactile feedback</term><term xml:lang="en">Haptic I/O</term><term xml:lang="en">Design for wearability</term><term xml:lang="en">Human-robot team</term></keywords><classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode><classCode scheme="halTypology" n="ART">Journal articles</classCode></textClass><abstract xml:lang="en">In this paper we present a new visuo-haptic interaction mechanism for human-robot formation control. The formation setup consists of a human leader and multiple follower robots. The mobile robots are equipped only with RGB-D cameras, and they should maintain a desired distance and orientation to the leader at all times. Mechanical limitations common to all the robots limit the possible trajectories that the human can take. In this regard, vibrotactile feedback provided by a haptic bracelet guides the human along trajectories that are feasible for the team by warning him/her when the formation constraints are being violated. Psychophysical tests on the bracelet together with real-world experiments conducted with a team of Pioneer robots show the effectiveness of the proposed visuo-haptic paradigm for the coordination of mixed human-robot teams.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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