Paper Info
Title
Distributed and Adaptive Shared Control Systems: Methodology for the Replication of Experiments
Abstract
Much work in robotics aimed at real-world applications falls in the large segment between teleoperated and fully autonomous systems. Such systems are characterized by the close coupling between the human operator and the robot, in principle, allowing the agents to share their particular sensing, adaptation, and decision-making capabilities. Replicable experiments can advance the state of the art of such systems but pose practical and epistemological challenges. For example, the trajectory of the system is governed by the adaptation both in the human and the robot agent. What do we need besides (or instead of) data sets for such a system? The degree of similarity between comparable experiments and the exact meaning of replication need to be clarified. Here, we explore replication of a distributed and adaptive shared control for an assistive robot manipulator. We attempt a methodological approach for reporting two virtual human experiments on the system: modeling the complete human-robot binomial, deriving closedloop performance metrics from the models, and openly publishing the results and experiment implementations.
Year
DOI
Venue
2015
10.1109/MRA.2015.2460911
IEEE Robotics & Automation Magazine
Keywords
Field
DocType
Robot sensing systems,Collision avoidance,Teleoperators,Measurement
Robot learning,Teleoperation,Social robot,Robot control,Simulation,Control engineering,Autonomous system (Internet),Artificial intelligence,Engineering,Robot,Mobile robot,Robotics
Journal
Volume
Issue
ISSN
22
4
1070-9932
Citations 
PageRank 
References 
3
0.44
8
Authors
5
Name
Order
Citations
PageRank
M. Stoelen1195.35
Virginia F. Tejada231.45
Alberto Jardón Huete3307.21
Carlos Balaguer48618.55
Fabio Paolo Bonsignorio530.44