NDLI: Shared control for navigation and balance of a dynamically stable robot

Content Provider	IEEE Xplore Digital Library
Author	Law, C.K.-H. Yangsheng Xu
Copyright Year	2002
Description	Author affiliation: Dept. of Autom. & Comput. Aided Eng., Chinese Univ. of Hong Kong, Shatin, China (Law, C.K.-H.; Yangsheng Xu)
Abstract	We developed a semi-autonomous control for a dynamically stable robot, Gyrover, by combining machine intelligence and human operating behaviors into a shared control environment. In this system, the entire control task is shared between the autonomous module and the human operator: the robot itself maintains local balancing, while the operator is responsible for the global navigation. The autonomous module consists of two unique and essential behaviors: lateral balancing and fall recovery. These behaviors are modeled by a machine learning algorithm. We developed a method enabling the system to make a reasonable decision in shared control, and addressed the implementation issues in the paper. Experiments demonstrated that this shared control scheme provides an efficient way to control a dynamically stable system, such as Gyrover.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	1985
Ending Page	1990
File Size	595980
Page Count	6
File Format	PDF
ISBN	0780372727
DOI	10.1109/ROBOT.2002.1014832
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Humans Wheels Mobile robots Robotics and automation Automatic control Intelligent robots Control systems Motion control Radio control
Content Type	Text
Resource Type	Article

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