000 04403nam a22005655i 4500
001 978-3-031-47934-2
003 DE-He213
005 20250516155940.0
007 cr nn 008mamaa
008 231228s2024 sz | s |||| 0|eng d
020 _a9783031479342
_9978-3-031-47934-2
050 4 _aTJ212-225
050 4 _aTJ210.2-211.495
072 7 _aTJFM
_2bicssc
072 7 _aTEC007000
_2bisacsh
072 7 _aTJFM
_2thema
082 0 4 _a629.8
_223
100 1 _aBalachandran, Ribin.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
245 1 2 _aA Stable and Transparent Framework for Adaptive Shared Control of Robots
_h[electronic resource] /
_cby Ribin Balachandran.
250 _a1st ed. 2024.
264 1 _aCham :
_bSpringer Nature Switzerland :
_bImprint: Springer,
_c2024.
300 _aXXII, 181 p. 155 illus., 92 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v158
505 0 _a1. Introduction -- 2. Fundamentals -- 3. Transparency Enhancement in Teleoperation -- 4. Multi-Agent Adaptive Shared Control -- 5. Stable and Transparent Shared Control Framework.
520 _aRobotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AAfactors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots.The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
541 _fUABC ;
_cPerpetuidad
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aControl, Robotics, Automation.
650 2 4 _aAutomation.
650 2 4 _aControl and Systems Theory.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer Nature eBook
776 0 8 _iPrinted edition:
_z9783031479335
776 0 8 _iPrinted edition:
_z9783031479359
776 0 8 _iPrinted edition:
_z9783031479366
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-742X ;
_v158
856 4 0 _zLibro electrónico
_uhttp://libcon.rec.uabc.mx:2048/login?url=https://doi.org/10.1007/978-3-031-47934-2
912 _aZDB-2-INR
912 _aZDB-2-SXIT
942 _cLIBRO_ELEC
999 _c273842
_d273841