Human-robot formation control via visual and vibrotactile haptic feedback.
Identifieur interne : 00A595 ( Main/Exploration ); précédent : 00A594; suivant : 00A596Human-robot formation control via visual and vibrotactile haptic feedback.
Auteurs : Stefano Scheggi ; Fabio Morbidi ; Domenico PrattichizzoSource :
- IEEE transactions on haptics [ 2329-4051 ]
English descriptors
- KwdEn :
- MESH :
- methods : Human Engineering, Photic Stimulation, Robotics.
- Adult, Algorithms, Feedback, Physiological, Female, Humans, Male, Middle Aged, Touch, Vibration, Young Adult.
- 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 her/him 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.
Url:
DOI: 10.1109/TOH.2014.2332173
PubMed: 25532150
Affiliations:
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Le document en format XML
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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 her/him 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><affiliations><list></list><tree><noCountry><name sortKey="Morbidi, Fabio" sort="Morbidi, Fabio" uniqKey="Morbidi F" first="Fabio" last="Morbidi">Fabio Morbidi</name><name sortKey="Prattichizzo, Domenico" sort="Prattichizzo, Domenico" uniqKey="Prattichizzo D" first="Domenico" last="Prattichizzo">Domenico Prattichizzo</name><name sortKey="Scheggi, Stefano" sort="Scheggi, Stefano" uniqKey="Scheggi S" first="Stefano" last="Scheggi">Stefano Scheggi</name></noCountry></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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