Hybrid dynamic modeling and control of constrained manipulation systems

McCarragher, B.J.; Hovland, Geir; Sikka, Pavan; Aigner, P.; Austin, David

doi:10.1109/100.591644

Cited by 15 publications

(5 citation statements)

References 31 publications

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“…HMMs were applied for studying teleoperation, [27][28][29] human manipulation actions, 30 human skills evaluation for the purpose of transferring human skill to robots, [31][32][33] and manufacturing applications. 34,35 Gesture recognition with HMMs has also received increasing attention from the rehabilitation technology community (see ref. 36 for review).…”

Section: Introductionmentioning

confidence: 99%

Task decomposition of laparoscopic surgery for objective evaluation of surgical residents' learning curve using hidden Markov Model

Rosén

Solazzo

Hannaford

et al. 2002

Comput. Aided Surg.

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Section: Introductionmentioning

confidence: 99%

Task decomposition of laparoscopic surgery for objective evaluation of surgical residents' learning curve using hidden Markov Model

Rosén

Solazzo

Hannaford

et al. 2002

Comput. Aided Surg.

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“…The discrete event system is a decision maker or controller and operates at an abstract level. The continuous-time system is the actual plant executing the decisions of the discrete event system [3] [4]. For our purpose, the continuous-time system will be the robot and its continuous controller.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

Hua

Wang

et al. 2006

Sixth International Conference on Intelligent Systems Design and Applications

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-A method based on hybrid control theory for modeling and control of teleoperated manipulator system is presented in this paper. In telerobotic systems, human operator plays the role of a command generator which produces commands in real time according to information fed back. However, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. Human operator is different from autonomous planner in robotic systems in that he can not generate continuous control inputs to the remote robot. As a result, telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system described customarily by differential equations or difference equations, and the human operator can be modeled by an automaton. A hybrid framework is of key importance for the study of such a system. The problems to be discussed in this paper include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to implement this framework in a real teleoperated manipulator system.

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“…The discrete event system is a difficulty in using hybrid control theory for modeling, analysis decision maker or controller and operates at an abstract level, and design of such a telerobotic system involving human The continuous-time system is the actual plant executing the operators is how to model the human operators. In this paper decisions of the discrete event system [3] [4]. For our purpose, 1-4244-0529-7/06/$20.OO ©C2006 IEEE discrete event system theory will be adopted to model the such events, the operator can select an appropriate control human oprators' dynamics.…”

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confidence: 99%

A Hybrid Control Method for Telerobotic Systems

Hua

Wang

2006

2006 IEEE International Conference on Information Acquisition

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A hybrid control method for telerobotic systems the continuous-time system will be the robot and its which considers simultaneously the control and decision-making continuous controller. By contrast, the discrete event system issues is presented in this paper. Telerobotic system is a typical will be a high-level, abstract decision-maker which issues hybrid system which contains both continuous-time and discrete commands to the continuous-time system. event dynamics. Specifically, the robot can be considered as a continuous-time system modeled customarily by differential Although r ca be analyze ad ined equations or difference equations, and the human operator systematically and much progress has been made in hybrid whose function is to generate commands for robot located in the framework, the limitations of sensors and computer remote side, however, can be modeled by an automaton. As a intelligence prohibit the use of completely autonomous result, telerobotic system is a heterogeneous system and the systems. It is still true that not all events can be considered heterogeneity can be characterized by the fact that humans are within off-line task scheduling. Many unexpected events in intelligent while robots are fast, powerful and accurate. From the automatically controlled process can be handled only by point of view of control, a hybrid framework is of key human operators [5]. A combination of human intelligence importance for the study of such a system. In this paper, the with the mechanical abilities of robotic systems would make specific problems to be discussed include developing a robot adaptable. As a result, human/machine cooperation framework in which both the robotic system and the human b operator can be modeled simultaneously, and introducing how to becomes an especially interesting research topic. A truly apply this framework in a real teleoperated manipulator system. intelligent system should be able to work in conjunction with The main contribution of this paper is the development of a people [6]. Telerobotic systems can be considered as a kind of mathematical model which incorporates human intervention into typical human/machine cooperation system. In [7], dynamic an autonomous control model. models for human operators have been obtained. However, human operators are not like autonomous controllers which Index Terms -Hybrid control, Telerobotic systems, Hybrid can be used to produce almost all kinds of control inputs. In system telerobotic systems, robots work tirelessly, faster, more powerfully, and more accurately than human operators, while human operators are more intelligent and more adept than A robot is an apparatus or device that can be programmed robots, play the role of command generators and can produce to perform tasks of manipulation under automatic control. The quick decision according to various feedback information. ultimate objective of robotics research is to developThe robot is a continuous-time system and can be modeled by autonomous robot systems which can be used to do some di...

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Hybrid dynamic modeling and control of constrained manipulation systems

Cited by 15 publications

References 31 publications

Task decomposition of laparoscopic surgery for objective evaluation of surgical residents' learning curve using hidden Markov Model

Task decomposition of laparoscopic surgery for objective evaluation of surgical residents' learning curve using hidden Markov Model

Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

A Hybrid Control Method for Telerobotic Systems

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