A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks

Joao Ramos, Albert Wang, Sangbae Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a novel Balance Feedback Interface (BFI) that addresses the problem of bilateral feedback for teleoperation of humanoid robots. With this new device we expect to enhance robot's high force manipulation performance to a level comparable to humans by dynamically synchronizing master and slave. Through this Human-Machine Interface (HMI) we aim to achieve two goals: (i) have the human pilot learn from the robot's dynamic behavior; and (ii) have the humanoid robotic platform learn from human's motor skills. The eventual goal is to fuse the teleoperator's commands and an autonomous controller for optimal performance. Initial results evaluate the stability of the robot while being teleoperated by a human pilot for a simple upright balancing task. During the experiment the user has no visual information about the robot's state and is expected to compensate for unpredicted instabilities. The bilateral feedback system shows robustness to inertial variations and to external disturbances with the proposed human-in-the-loop control strategy offering valuable insight for future work.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4229-4235
Number of pages7
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

    Fingerprint

Keywords

  • Brushless motors
  • Dynamics
  • Foot
  • Force
  • Hip
  • Robot kinematics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Ramos, J., Wang, A., & Kim, S. (2015). A Balance Feedback Human Machine Interface for humanoid teleoperation in dynamic tasks. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4229-4235). [7353976] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353976