Task-space control of bilateral human-swarm interaction with constant time delay

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題IROS 2013
主出版物子標題New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
頁面1663-1669
頁數7
DOIs
出版狀態Published - 2013 十二月 1
事件2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
持續時間: 2013 十一月 32013 十一月 8

出版系列

名字IEEE International Conference on Intelligent Robots and Systems
ISSN(列印)2153-0858
ISSN(電子)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
國家/地區Japan
城市Tokyo
期間13-11-0313-11-08

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 軟體
  • 電腦視覺和模式識別
  • 電腦科學應用

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