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

fYear

2012

fDate

8-9 Oct. 2012

Firstpage

44

Lastpage

49

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Audio Visual Environments and Games (HAVE), 2012 IEEE International Workshop on

Conference_Location

Munich

Print_ISBN

978-1-4673-1568-5

Type

conf

DOI

10.1109/HAVE.2012.6374448

Filename

6374448