Cooperative human-robot haptic navigation
Identifieur interne : 000C20 ( Main/Exploration ); précédent : 000C19; suivant : 000C21Cooperative human-robot haptic navigation
Auteurs : Stefano Scheggi [Italie] ; Marco Aggravi [Italie] ; Fabio Morbidi [France] ; Domenico Prattichizzo [Italie]Source :
English descriptors
Abstract
This paper proposes a novel use of haptic feedback for human navigation with a mobile robot. Assuming that a path-planner has provided a mobile robot with an obstacle-free trajectory, the vehicle must steer the human from an initial to a desired target position by only interacting with him/her via a custom-designed vibro-tactile bracelet. The subject is free to decide his/her own pace and a warning vibrational signal is generated by the bracelet only when a large deviation with respect to the planned trajectory is detected by the vision sensor on-board the robot. This leads to a cooperative navigation system that is less intrusive, more flexible and easy-to-use than the ones existing in literature. The effectiveness of the proposed system is demonstrated via extensive real-world experiments.
Url:
Affiliations:
- France, Italie
- Auvergne-Rhône-Alpes, Rhône-Alpes
- Grenoble
- Université Joseph Fourier, Université de Grenoble
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Le document en format XML
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Assuming that a path-planner has provided a mobile robot with an obstacle-free trajectory, the vehicle must steer the human from an initial to a desired target position by only interacting with him/her via a custom-designed vibro-tactile bracelet. The subject is free to decide his/her own pace and a warning vibrational signal is generated by the bracelet only when a large deviation with respect to the planned trajectory is detected by the vision sensor on-board the robot. This leads to a cooperative navigation system that is less intrusive, more flexible and easy-to-use than the ones existing in literature. The effectiveness of the proposed system is demonstrated via extensive real-world experiments.</div></front></TEI><affiliations><list><country><li>France</li><li>Italie</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Grenoble</li></settlement><orgName><li>Université Joseph Fourier</li><li>Université de Grenoble</li></orgName></list><tree><country name="Italie"><noRegion><name sortKey="Scheggi, Stefano" sort="Scheggi, Stefano" uniqKey="Scheggi S" first="Stefano" last="Scheggi">Stefano Scheggi</name></noRegion><name sortKey="Aggravi, Marco" sort="Aggravi, Marco" uniqKey="Aggravi M" first="Marco" last="Aggravi">Marco Aggravi</name><name sortKey="Prattichizzo, Domenico" sort="Prattichizzo, Domenico" uniqKey="Prattichizzo D" first="Domenico" last="Prattichizzo">Domenico Prattichizzo</name></country><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Morbidi, Fabio" sort="Morbidi, Fabio" uniqKey="Morbidi F" first="Fabio" last="Morbidi">Fabio Morbidi</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|texte= Cooperative human-robot haptic navigation
}}
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