Human-Robot Formation Control via Visual and Vibrotactile Haptic Feedback
| العنوان: | Human-Robot Formation Control via Visual and Vibrotactile Haptic Feedback |
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| المؤلفون: | Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo |
| المساهمون: | SIRSlab, Networked Controlled Systems (NECS), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS) |
| المصدر: | IEEE Transactions on Haptics (ToH) IEEE Transactions on Haptics (ToH), IEEE, 2014, 7 (4), pp.499-511. ⟨10.1109/TOH.2014.2332173⟩ IEEE Transactions on Haptics (ToH), 2014, 7 (4), pp.499-511. ⟨10.1109/TOH.2014.2332173⟩ |
| بيانات النشر: | Institute of Electrical and Electronics Engineers (IEEE), 2014. |
| سنة النشر: | 2014 |
| مصطلحات موضوعية: | Adult, Male, Engineering, Autonomous vehicles, Vibration, Human–robot interaction, Human-robot team, Young Adult, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Humans, Simulation, Haptic technology, Feedback, Physiological, Robot kinematics, Social robot, business.industry, Mobile robot, Robotics, Middle Aged, Computer Science Applications, Robot control, Human-Computer Interaction, Mechanism (engineering), Vibrotactile feedback, Touch, Robot, Female, Ergonomics, Design for wearability, business, Haptic I/O, Algorithms, Photic Stimulation |
| الوصف: | accepted on June 9; International audience; 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. |
| تدمد: | 2334-0134 1939-1412 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::280d45ab337608003120155893a27f9c https://doi.org/10.1109/toh.2014.2332173 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....280d45ab337608003120155893a27f9c |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 23340134 19391412 |
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