ICRA 2011 Paper Abstract

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Paper WeP211.4

Humphreys, Heather (Georgia Institute of Technology), Book, Wayne (Georgia Institute of Technology), Huggins, James (Georgia Institute of Technology)

Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control

Scheduled for presentation during the Regular Sessions "Physical Human-Robot Interaction II" (WeP211), Wednesday, May 11, 2011, 16:10−16:25, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 10, 2019

Keywords Physical Human-Robot Interaction, Robotics in Construction, Teleoperation

Abstract

This research investigates and seeks to mitigate the undesirable effects of biodynamic feedthrough in backhoe operation. Biodynamic feedthrough occurs when motion of the controlled machine excites motion of the human operator, which is fed back into the control input device. This unwanted input can cause significant performance degradation, which can include limit cycles or even instability. Backhoe user interface designers indicate that this is a problem in many conventional machines, and it has also proved to degrade performance in this testbed. A particular backhoe control system, including the biodynamic feedthrough, is modeled and simulated. Cab vibration control is selected as a means to mitigate the biodynamic feedthrough effect. Two controller based methods are developed based on these models and presented, both of which use the working implement itself to reduce the cab motion. In this case, the backhoe arm has dual functionality, to perform excavation operations and to cancel cab vibration. Results show that significant reductions in cab motion can be obtained with minimal tracking performance degradation, without additional actuators.

 

 

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