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ROBOT2013: First Iberian Robotics Conference pp 601–614Cite as

Teleoperation of Mobile Robots Considering Human’s Commands

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

Abstract

Performance in teleoperation of robot strongly depends on user’s accomplishment. But most of these systems do not consider human factors in the control design. This paper proposes a teleoperation scheme applied to mobile robots considering operator’s dynamic command execution. The controller is based on an impedance law to avoid crashes against obstacles. A novel on-line metric is proposed, which offers a quantitative level about performance of the human operator commands in front of risk. This metric is based on evaluating the risk induced by the operator decisions and execution. The obtained signal is applied in the feedback control loop, modifying the proportional gain of the impedance law. Finally, experimental results are shown in order to test the proposal scheme.

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Author information

Authors and Affiliations

  1. Instituto de Automática, Universidad Nacional de San Juan, San Juan, Argentina

    Franco Penizzotto, Emanuel Slawiñski & Vicente Mut

Authors
  1. Franco Penizzotto
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  2. Emanuel Slawiñski
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  3. Vicente Mut
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Corresponding author

Correspondence to Franco Penizzotto .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, Agencia Estatal Consejo Superior de Investigaciones Científicas (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. Universitat Politècnica de Catalunya (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. Universidad Politécnica de Madrid (UPM), Madrid, Spain

    Manuel Ferre

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© 2014 Springer International Publishing Switzerland

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Penizzotto, F., Slawiñski, E., Mut, V. (2014). Teleoperation of Mobile Robots Considering Human’s Commands. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_43

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_43

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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