Adaptive Methods For Realistic And Intuitive Human-robot Interaction

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Title: Adaptive Methods For Realistic And Intuitive Human-robot Interaction
Author: Rajruangrabin, Jartuwat
Abstract: Due to the advancement in robotics and computer technology , having access to sophisticated robot hardware is becoming common . An increase in the number of robots allows one to achieve different kind of tasks by exploiting cooperation , such as : robot swarms , object manipulation using multiple degrees of freedom of different robots . It is quite challenging for the human operator to coordinate multiple robots to achieve a task in an efficient manner . The channels available to receive feedback information from the robot system can vary from simple encoder reading to video stream acquisition of the robot system performing tasks . It is important for us to make use of and coordinate as many sensing modalities as it is required to perform necessary tasks . On the other hand , we would want to keep the number of modalities utilized optimal just to maintain usage intuitiveness for human operators and efficiency .In this dissertation , we have investigated 3 different modalities of interaction with robots . Physical sensing : we present a novel approach to enhance human -robot interactivity through the use of artificial skin and the Extended Kalman filter . Visual sensing : we present a novel approach to enhance interaction of humanoid robot actor through the use of pose estimation and visual servoing . Interface devices : we present a work on combining dynamic gestures based commands from an interface device to improve the intuitiveness of control / planning of multiple degrees of freedom robot system through reinforcement learning .We propose an efficient way to coordinate multiple modalities sensing as generalized interface for multiple robots manipulation / planning . In addition , performance metrics are proposed so that we have the quantitative way to identify our interaction efficiency . Eventually , the outcome of this research is a reconfigurable multiple interfaces system that can be used with different multiple robots system in a way that it is easy and intuitive for the human operator to learn to operate .
URI: http : / /hdl .handle .net /10106 /5395
Date: 2011-03-03

Citation

Adaptive Methods For Realistic And Intuitive Human-robot Interaction. Available electronically from http : / /hdl .handle .net /10106 /5395 .

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