Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour integration

Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour... In this paper, we present a novel approach to human–robot control. Taking inspiration from behaviour-based robotics and self-organisation principles, we present an interfacing mechanism, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Instead of the user adapting to the interface and control paradigm, the proposed architecture allows the user to shape the control motifs in their way of preference, moving away from the case where the user has to read and understand an operation manual, or it has to learn to operate a specific device. Starting from a tabula rasa basis, the architecture is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole. Inherent properties of the architecture are presented and explained. At the same time, emergent properties are presented and investigated. As a whole, this paradigm of control is found to highlight the potential for a change in the paradigm of robotic control, and a new level in the taxonomy of human in the loop systems. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Cognitive Processing Springer Journals

Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour integration

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Publisher
Springer Berlin Heidelberg
Copyright
Copyright © 2017 by Marta Olivetti Belardinelli and Springer-Verlag Berlin Heidelberg
Subject
Biomedicine; Neurosciences; Behavioral Sciences; Artificial Intelligence (incl. Robotics)
ISSN
1612-4782
eISSN
1612-4790
D.O.I.
10.1007/s10339-017-0818-5
Publisher site
See Article on Publisher Site

Abstract

In this paper, we present a novel approach to human–robot control. Taking inspiration from behaviour-based robotics and self-organisation principles, we present an interfacing mechanism, with the ability to adapt both towards the user and the robotic morphology. The aim is for a transparent mechanism connecting user and robot, allowing for a seamless integration of control signals and robot behaviours. Instead of the user adapting to the interface and control paradigm, the proposed architecture allows the user to shape the control motifs in their way of preference, moving away from the case where the user has to read and understand an operation manual, or it has to learn to operate a specific device. Starting from a tabula rasa basis, the architecture is able to identify control patterns (behaviours) for the given robotic morphology and successfully merge them with control signals from the user, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole. Inherent properties of the architecture are presented and explained. At the same time, emergent properties are presented and investigated. As a whole, this paradigm of control is found to highlight the potential for a change in the paradigm of robotic control, and a new level in the taxonomy of human in the loop systems.

Journal

Cognitive ProcessingSpringer Journals

Published: Jun 5, 2017

References

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