Modeling Pointing Tasks in Human-Blimp Interactions

Hou, Mengxue; Tao, Qiuyang; Varnell, Paul; Zhang, Fumin

doi:10.1109/ccta.2019.8920528

Cited by 5 publications

(4 citation statements)

References 14 publications

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“…We discover that the VITE model may serve as a reset controller used by the human to reduce the overshoot of the blimp motion. These discoveries have not been reported in our conference paper 19 , as well as the literature reviewed.…”

Section: Introductionmentioning

confidence: 54%

“…A feedback controller on the GT-MAB achieves tracking of the human pointing motion. Other than our conference paper 19 , we have not found similar investigations of human interaction with robotic blimps using a pointing device in the literature.…”

Section: Introductionmentioning

confidence: 68%

“…To simplify the dynamics model, we introduce the Assumption 1 in 19 , that the horizontal position of the target that the human specifies is the same as the horizontal position of the blimp. Due to this Assumption, we use y(t) to represent the vertical location of the wand, u(t) to represent the vertical position of the blimp, and r(t) to represent the vertical location of the target.…”

Section: Problem Formulationmentioning

confidence: 99%

“…We assume that the target position is located at the origin, and blimp's initial position is lower than the target position. Detailed description and justification of this assumption is provided in 19 .…”

Section: /11 4 Stability Analysismentioning

confidence: 99%

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Human Pointing Motion during Interaction with an Autonomous Blimp

Hou

Tao

Zhang

2022

Preprint

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We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller.The Vector Integration to Endpoint (VITE) model, previously applied to human-computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human-blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia, which does not appear in HCI using computer mouse. The asymptotic stability of the human-blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp.

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Section: Introductionmentioning

confidence: 54%

Section: Introductionmentioning

confidence: 68%

Section: Problem Formulationmentioning

confidence: 99%

Section: /11 4 Stability Analysismentioning

confidence: 99%

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Human Pointing Motion during Interaction with an Autonomous Blimp

Hou

Tao

Zhang

2022

Preprint

Self Cite

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Human pointing motion during interaction with an autonomous blimp

Hou

Tao

Zhang

2022

Sci Rep

Self Cite

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We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller. The Vector Integration to Endpoint (VITE) model, previously applied to human–computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human–blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia. The asymptotic stability of the human–blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp.

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Modeling and Control for Close Flight Formation of Blimp Robots

Wang,

Zhang,

et al. 2024

2024 International Conference on Advanced Robotics and Mechatronics (ICARM)

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Modeling Pointing Tasks in Human-Blimp Interactions

Cited by 5 publications

References 14 publications

Human Pointing Motion during Interaction with an Autonomous Blimp

Human Pointing Motion during Interaction with an Autonomous Blimp

Human pointing motion during interaction with an autonomous blimp

Modeling and Control for Close Flight Formation of Blimp Robots

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