Name
Title | ||
|---|---|---|
A vestibular interface for natural control of steering in the locomotion of robotic artifacts: Preliminary experiments |
Abstract | ||
|---|---|---|
This work addresses the problem of developing novel interfaces for robotic systems that can allow the most natural transmission of control commands and sensory information, in the two directions. A novel approach to the development of natural interfaces is based on the detection of the human's motion intention, instead of the movement itself, as in traditional interfaces. Based on recent findings in neuroscience, the intention can be detected from anticipatory movements that naturally accompany more complex motor behaviors. This work is aimed at validating the hypothesis that head movements can be used to detect, slightly in advance, a person's intention to execute a steering during locomotion, and that a natural interface can be developed for controlling the navigation of a robotic artifact, based on this principle. A prototype 'vestibular' interface has been developed to this purpose, based on a 3-axial artificial vestibular system, developed by part of the authors for humanoid robotics applications. Three different experimental sessions have been carried out by using: (1) a driving video-game; (2) a robotic endoscope, with a 2-DOF steering tip; and (3) a mobile robot with a camera on-board. The experiments showed that anticipatory head movements occur even when the person is driving a device, like those used in the experiments, and that such head movements always anticipate commands to the input device. The results indicate that the proposed hypothesis is valid and that a further research effort is worthwhile in the direction of using this novel principle to develop natural interfaces, which in fact can be very useful in many tasks, with different devices. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1007/978-3-540-48113-3_46 | Springer Tracts in Advanced Robotics |
Field | DocType | Volume |
Robotic systems,Vestibular system,Control engineering,Experimental Brain Research,Engineering,Sensory system,Mobile robot,Input device | Conference | 28 |
ISSN | Citations | PageRank |
1610-7438 | 0 | 0.34 |
References | Authors | |
5 | 9 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Cecilia Laschi | 1 | 681 | 99.92 |
| Eliseo Stefano Maini | 2 | 22 | 4.26 |
| Francesco Patane | 3 | 13 | 2.08 |
| Luca Ascari | 4 | 39 | 6.84 |
| Gaetano Ciaravella | 5 | 0 | 0.34 |
| Ulisse Bertocchi | 6 | 7 | 1.53 |
| Cesare Stefanini | 7 | 188 | 45.66 |
| Paolo Dario | 8 | 2017 | 339.00 |
| Alain Berthoz | 9 | 274 | 33.20 |