Human-robot formation control via visual and vibrotactile haptic feedback.
Identifieur interne : 00B140 ( Main/Merge ); précédent : 00B139; suivant : 00B141Human-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
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pubmed:25532150Le document en format XML
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Via Morego 30 16163 Genova, Italy</addrLine><country key="IT"></country></address><ref type="url">http://www.iit.it/en/home.html</ref></desc><listRelation><relation active="#struct-312387" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-312387" type="indirect"><org type="institution" xml:id="struct-312387" status="INCOMING"><orgName>Italian Institute of Technology</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-247404" type="direct"><org type="laboratory" xml:id="struct-247404" status="VALID"><orgName>SIRSlab</orgName><desc><address><country key="IT"></country></address><ref type="url">http://sirslab.dii.unisi.it/</ref></desc><listRelation><relation active="#struct-370306" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-370306" type="indirect"><org type="institution" xml:id="struct-370306" status="INCOMING"><orgName>University of Siena</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Italie</country></affiliation></author></analytic><idno type="DOI">10.1109/TOH.2014.2332173</idno><series><title level="j">IEEE Transactions on Haptics (ToH)</title><idno type="ISSN">1939-1412</idno><imprint><date type="datePub">2014-10-01</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Autonomous vehicles</term><term>Design for wearability</term><term>Haptic I/O</term><term>Human-robot team</term><term>Vibrotactile feedback</term></keywords></textClass></profileDesc></teiHeader><front><div type="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.</div></front></TEI></HAL><PubMed><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Human-robot formation control via visual and vibrotactile haptic feedback.</title><author><name sortKey="Scheggi, Stefano" sort="Scheggi, Stefano" uniqKey="Scheggi S" first="Stefano" last="Scheggi">Stefano Scheggi</name></author><author><name sortKey="Morbidi, Fabio" sort="Morbidi, Fabio" uniqKey="Morbidi F" first="Fabio" last="Morbidi">Fabio Morbidi</name></author><author><name sortKey="Prattichizzo, Domenico" sort="Prattichizzo, Domenico" uniqKey="Prattichizzo D" first="Domenico" last="Prattichizzo">Domenico Prattichizzo</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="????"><PubDate><MedlineDate>2014 Oct-Dec</MedlineDate></PubDate></date><idno type="doi">10.1109/TOH.2014.2332173</idno><idno type="RBID">pubmed:25532150</idno><idno type="pmid">25532150</idno><idno type="wicri:Area/PubMed/Corpus">000467</idno><idno type="wicri:Area/PubMed/Curation">000467</idno><idno type="wicri:Area/PubMed/Checkpoint">002344</idno><idno type="wicri:Area/Ncbi/Merge">003560</idno><idno type="wicri:Area/Ncbi/Curation">003560</idno><idno type="wicri:Area/Ncbi/Checkpoint">003560</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Human-robot formation control via visual and vibrotactile haptic feedback.</title><author><name sortKey="Scheggi, Stefano" sort="Scheggi, Stefano" uniqKey="Scheggi S" first="Stefano" last="Scheggi">Stefano Scheggi</name></author><author><name sortKey="Morbidi, Fabio" sort="Morbidi, Fabio" uniqKey="Morbidi F" first="Fabio" last="Morbidi">Fabio Morbidi</name></author><author><name sortKey="Prattichizzo, Domenico" sort="Prattichizzo, Domenico" uniqKey="Prattichizzo D" first="Domenico" last="Prattichizzo">Domenico Prattichizzo</name></author></analytic><series><title level="j">IEEE transactions on haptics</title><idno type="eISSN">2329-4051</idno></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Adult</term><term>Algorithms</term><term>Feedback, Physiological</term><term>Female</term><term>Human Engineering (methods)</term><term>Humans</term><term>Male</term><term>Middle Aged</term><term>Photic Stimulation (methods)</term><term>Robotics (methods)</term><term>Touch</term><term>Vibration</term><term>Young Adult</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Human Engineering</term><term>Photic Stimulation</term><term>Robotics</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Adult</term><term>Algorithms</term><term>Feedback, Physiological</term><term>Female</term><term>Humans</term><term>Male</term><term>Middle Aged</term><term>Touch</term><term>Vibration</term><term>Young Adult</term></keywords></textClass></profileDesc></teiHeader><front><div type="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 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></PubMed></double></record>Pour manipuler ce document sous Unix (Dilib)
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