TY - GEN
T1 - Task-space control of bilateral human-swarm interaction with constant time delay
AU - Liu, Yen-Chen
PY - 2013/12/1
Y1 - 2013/12/1
N2 - This paper presents system framework and control algorithm that enable a human operator to simultaneously interact with a group of swarm robots in a remote environment. In this control system, several characteristics of the configuration of the swarm robots are encoded as task functions, for which a human operator can specify desired values that are conveyed to the end-effector of the master robot. Stability and tracking performance of the proposed control system are investigated in the presence of communication delays so that the swarm robots can be manipulated remotely. Moreover, the swarm robots, which perform like a redundant robotic system, can also regulate their position to achieve secondary tasks autonomously. The proposed control algorithms are validated via numerical simulations on a 3-DOF robot manipulator with a group of mobile robots.
AB - This paper presents system framework and control algorithm that enable a human operator to simultaneously interact with a group of swarm robots in a remote environment. In this control system, several characteristics of the configuration of the swarm robots are encoded as task functions, for which a human operator can specify desired values that are conveyed to the end-effector of the master robot. Stability and tracking performance of the proposed control system are investigated in the presence of communication delays so that the swarm robots can be manipulated remotely. Moreover, the swarm robots, which perform like a redundant robotic system, can also regulate their position to achieve secondary tasks autonomously. The proposed control algorithms are validated via numerical simulations on a 3-DOF robot manipulator with a group of mobile robots.
UR - https://www.scopus.com/pages/publications/84893784211
UR - https://www.scopus.com/pages/publications/84893784211#tab=citedBy
U2 - 10.1109/IROS.2013.6696572
DO - 10.1109/IROS.2013.6696572
M3 - Conference contribution
AN - SCOPUS:84893784211
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1663
EP - 1669
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -