TY - GEN
T1 - The mathematical model and control of human-machine perceptual feedback system
AU - Yoon, Han U.
AU - Hutchinson, Seth A.
PY - 2011
Y1 - 2011
N2 - In this paper, we propose a novel system architecture and control scheme, a human-machine perceptual feedback system and control, to enhance a user's control performance while he is teleoperating a mobile robot with a joystick. First, we model the user, robot, and human-machine perceptual feedback controller. The two key roles of the controller are: a) displaying a preferred road width to the user with respect to various road types, and b) constraining the maximum linear and angular velocity of the robot for safer maneuver as well. Second, we define a perception to behavior stability and perform a stability analysis. Finally, we present simulation results showing that a novice user can teleoperate the mobile robot successfully along sidewalks by our approach.
AB - In this paper, we propose a novel system architecture and control scheme, a human-machine perceptual feedback system and control, to enhance a user's control performance while he is teleoperating a mobile robot with a joystick. First, we model the user, robot, and human-machine perceptual feedback controller. The two key roles of the controller are: a) displaying a preferred road width to the user with respect to various road types, and b) constraining the maximum linear and angular velocity of the robot for safer maneuver as well. Second, we define a perception to behavior stability and perform a stability analysis. Finally, we present simulation results showing that a novice user can teleoperate the mobile robot successfully along sidewalks by our approach.
UR - http://www.scopus.com/inward/record.url?scp=84455201799&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455201799&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048127
DO - 10.1109/IROS.2011.6048127
M3 - Conference contribution
AN - SCOPUS:84455201799
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2070
EP - 2075
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -