Intention recognition by inverted two-wheeled mobile robot through interactive operation

Author

Takahashi, Y. ; Inoue, Takeru ; Nakamura, T.

Author_Institution

Dept. of Human & Artificial Intell. Syst., Univ. of Fukui, Fukui, Japan

fYear

2014

fDate

6-11 July 2014

Firstpage

1291

Lastpage

1296

Abstract

Recently, two-wheeled inverted pendulum mobile robots have been popular. They support human locomotion and/or small goods transportation based on inverted pendulum upright controllers. The conventional inverted pendulum mobile robot controls to follow the fixed desired posture angle and wheel velocity. It is desirable to change the control parameters according to the user intention in order to offer comfortable operability of the robot. This paper proposes a user intention recognition system for a inverted pendulum mobile robot and shows experimental results.

Keywords

human-robot interaction; mobile robots; nonlinear systems; pendulums; position control; service robots; velocity control; fixed desired posture angle; human locomotion; interactive operation; inverted pendulum upright controllers; inverted two-wheeled mobile robot; porter robot; robot comfortable operability; small goods transportation; two-wheeled inverted pendulum mobile robots; user intention recognition system; wheel velocity; Angular velocity; Mean square error methods; Mobile robots; Robot sensing systems; Service robots; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (FUZZ-IEEE), 2014 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-2073-0

Type

conf

DOI

10.1109/FUZZ-IEEE.2014.6891685

Filename

6891685