Title :
Stability analysis of haptic shared control and its application on a mobile assistive robot
Author :
Wang, Huanran ; Liu, Xiaoping P.
Author_Institution :
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
Haptic shared control (HSC) has been widely used in human-robot interaction systems, such as car driving and assistive robots. However, the stability analysis of HSC is not well investigated in current literature, especially for the nonlinear systems. In this paper, the stability of HSC for nonlinear systems is analyzed based on the set theory and convex analysis. The authority weight calculation and haptic rendering algorithm of HSC are developed based on the stability analysis. Then, we apply these algorithms to our assistive robot system. Experimental results show the stable operation of the assistive robot and the effectiveness of the haptic rendering algorithm.
Keywords :
haptic interfaces; human-robot interaction; mobile robots; nonlinear control systems; set theory; stability; HSC; authority weight calculation; car driving; convex analysis; haptic rendering algorithm; haptic shared control; human-robot interaction systems; mobile assistive robot; nonlinear systems; set theory; stability analysis; Algorithm design and analysis; Haptic interfaces; Humans; Mobile robots; Robot kinematics; Stability analysis;
Conference_Titel :
Haptic Audio Visual Environments and Games (HAVE), 2012 IEEE International Workshop on
Conference_Location :
Munich
Print_ISBN :
978-1-4673-1568-5
DOI :
10.1109/HAVE.2012.6374448
