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Paper ThAT2.4

Ramos, Joao (Massachusetts Institute of Technology), Wang, Albert (Massachusetts Institute of Technology), Kim, Sangbae (Massachusetts Institute of Technology)

A Balance Feedback Human Machine Interface for Humanoid Teleoperation in Dynamic Tasks

Scheduled for presentation during the Regular session "Smart Robotics Application 1" (ThAT2), Thursday, October 1, 2015, 09:15−09:30, Saal D

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Telerobotics, Human-Robot Interaction, Haptics and Haptic Interfaces

Abstract

This paper introduces a novel Balance Feedback Interface (BFI) that addresses the problem of bilateral feedback for teleoperation of humanoid robots. With this new device we expect to enhance robotís high force manipulation performance to a level comparable to humans by dynamically synchronizing master and slave. Through this Human-Machine Interface (HMI) we aim to achieve two goals: (i) have the human pilot learn from the robotís dynamic behavior; and (ii) have the humanoid robotic platform learn from humanís motor skills. The eventual goal is to fuse the teleoperatorís commands and an autonomous controller for optimal performance. Initial results evaluate the stability of the robot while being teleoperated by a human pilot for a simple upright balancing task. During the experiment the user have no visual information about the robotís state and is expected to compensate for unpredicted instabilities. The bilateral feedback system shows robustness to inertial variations and to external disturbances with the proposed human-in-the-loop control strategy offering valuable insight for future work.

 

 

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