User–Robot Interaction for Safe Navigation of a Quadrotor

Abstract

SUMMARY This paper introduces an intuitive and safe command approach for a quadrotor, where inertial and muscular gestures are used for semi-autonomous flight. A bracelet composed of gyroscopes, accelerometers, and electromyographic sensors is used to detect user gestures, then an algorithm is proposed to interpret the signals as flight commands. The main goal is to provide a wearable, easy-to-handle human–machine interface for users a to safely command this kind of vehicles, even for inexpert operators. Safety measures are incorporated in the scheme to further enhance the user’s experience. Experimental tests are performed to validate the proposal.

Exocentric Control Scheme for Robot Applications: An Immersive Virtual Reality Approach

“…A wearable drone teleoperation is presented in [38] where the data glove allows the user to control the drone's trajectory by hand motion, and a haptic system is used to augment their awareness of the environment surrounding the robot. Similarly, in [39] a remote control of a quadrotor vehicle is proposed using electromyographic and inertial sensors. The user controlled the aerial robot in position and orientation moving his hand.…”

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

“…Another disadvantage of Euler angles is the computational cost by computing so many trigonometric functions [25], on the contrary, quaternion mathematics only involves algebraic computations [26]. Sanchez et al used quaternion dynamics for quadrotor control based on receiving gesture commands [27], where it was important to cope with the unpredictability of the gesture and quaternion made it more reliable due to insensitivity to singularity.…”