Haptic-Guided Path Generation for Remote Car-Like Vehicles

Fennel, Michael; Zea, Antonio; Hanebeck, Uwe D.

doi:10.1109/lra.2021.3067846

Cited by 13 publications

(4 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For example, Lee K. H. et al provide continuous forward guidance for wheeled robots by sketching paths on images, complementing the local intelligence of the robot to perform obstacle avoidance path planning for multiple scenarios [24]. Fennel M. et al designed a force feedback device via immersive human-robot interaction to generate paths that both meet the human intention and satisfy the constraints of the kinematic model of a wheeled robot [25]. In the field of UAVs (unmanned aerial vehicles), due to their high-speed requirements, researchers hope to plan paths that conform to human expectations while being smooth, search fast, and kinetic constraints satisfied [26].…”

Section: A Related Workmentioning

confidence: 99%

A Closed-Loop Shared Control Framework for Legged Robots

Wang

Ding

et al. 2024

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

Shared control, as a combination of human and robot intelligence, has been deemed as a promising direction towards complementing the perception and learning capabilities of legged robots. However, previous works on human-robot control for legged robots are often limited to simple tasks, such as controlling movement direction, posture, or single-leg motion, yet extensive training of the operator is required. To facilitate the transfer of human intelligence to legged robots in unstructured environments, this paper presents a user-friendly closed-loop shared control framework. The main novelty is that the operator only needs to make decisions based on the recommendations of the autonomous algorithm, without having to worry about operations or consider contact planning issues. Specifically, a rough navigation path from the operator is smoothed and optimized to generate a path with reduced traversing cost. The traversability of the generated path is assessed using fast Monte Carlo tree search (FastMCTS), which is subsequently fed back through an intuitive image interface and force feedback to help the operator make decisions quickly, forming a closed-loop shared control. The simulation and hardware experiments on a hexapod robot show that the proposed framework gives full play to the advantages of human-machine collaboration, and improves the performance in terms of learning time from the operator, mission completion time, and success rate than comparison methods.

show abstract

Section: A Related Workmentioning

confidence: 99%

A Closed-Loop Shared Control Framework for Legged Robots

Wang

Ding

et al. 2024

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

show abstract

“…Kinematic constraints of the PR are not respected. Another concept for haptic guidance during the path selection phase for car-like vehicles is given in [5]. Although this approach respects the kinematic constraints and the limitations of the steering angle, it cannot be applied to other mechanical structures, which disqualifies it for the task of rendering kinematics.…”

Section: Related Workmentioning

confidence: 99%

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Fennel

Zea

Mangler

et al. 2022

IEEE Control Syst. Lett.

Self Cite

View full text Add to dashboard Cite

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the haptic rendering of any programmed robot with a serial manipulator on a general-purpose haptic interface. The results show that the proposed haptic rendering reproduces the kinematic properties of the programmed robot and directly provides the desired joint space trajectories. In addition to a stand-alone usage, we demonstrate that the proposed algorithm can be easily paired with existing visual technology for virtual and augmented reality to facilitate a highly immersive programming experience.

show abstract

“…Fennel et al [16] use the term teleoperation in a broad fashion but present an indirect shared autonomy approach, where a human operator provides a reference path.…”

Section: Research Approachesmentioning

confidence: 99%

Taxonomy and Survey on Remote Human Input Systems for Driving Automation Systems

Bogdoll,

Orf,

Töttel

et al. 2021

Preprint

View full text Add to dashboard Cite

Corner cases for driving automation systems can often be detected by the system itself and subsequently resolved by remote humans. There exists a wide variety of approaches on how remote humans can resolve such issues. Over multiple domains, no common taxonomy on those approaches has developed yet. As the scaling of automated driving systems continues to increase, a uniform taxonomy is desirable to improve communication within the scientific community, but also beyond to policymakers and the general public. In this paper, we provide a survey on recent terminologies and propose a taxonomy for remote human input systems, classifying the different approaches based on their complexity.

show abstract

Haptic-Guided Path Generation for Remote Car-Like Vehicles

Cited by 13 publications

References 20 publications

A Closed-Loop Shared Control Framework for Legged Robots

A Closed-Loop Shared Control Framework for Legged Robots

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Taxonomy and Survey on Remote Human Input Systems for Driving Automation Systems

Contact Info

Product

Resources

About