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dc.contributor.author
Leica Arteaga, Paulo Cesar
dc.contributor.author
Toibero, Juan Marcos
dc.contributor.author
Roberti, Flavio
dc.contributor.author
Carelli Albarracin, Ricardo Oscar
dc.date.available
2016-04-01T22:06:39Z
dc.date.issued
2014-09
dc.identifier.citation
Leica Arteaga, Paulo Cesar; Toibero, Juan Marcos; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Switched control to human-robot bilateral interaction for guiding people; Springer; Journal of Intelligent & Robotic Systems; 77; 1; 9-2014; 73-93
dc.identifier.issn
0921-0296
dc.identifier.uri
http://hdl.handle.net/11336/5003
dc.description.abstract
This paper presents a switched control strategy to interprete and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when performing the specific task of tracking a mobile robot. This model is useful for the purposes of the control system design and its associated stability analysis. A switched system is proposed to model the complete human-robot behavior. The switching strategy is based on the human-robot relative position and on the human intention to follow the robot. Control errors are defined in terms of human to robot and robot to path instantaneous distances. Stability analysis for the individual controllers, as well as for the complete switching system, are provided by considering Lyapunov theory. Real human-robot interaction experiments show the good performance of the proposed control strategy.
dc.format
application/pdf
dc.language.iso
eng
dc.publisher
Springer
dc.rights
info:eu-repo/semantics/openAccess
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject
Human-Robot Interaction
dc.subject
Bilateral Interaction
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Mobile Robots
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Lyapunov Stability
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Biotecnología relacionada con la Salud
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Biotecnología de la Salud
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CIENCIAS MÉDICAS Y DE LA SALUD
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Control Automático y Robótica
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Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
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INGENIERÍAS Y TECNOLOGÍAS
dc.title
Switched control to human-robot bilateral interaction for guiding people
dc.type
info:eu-repo/semantics/article
dc.type
info:ar-repo/semantics/artículo
dc.type
info:eu-repo/semantics/publishedVersion
dc.date.updated
2016-05-06 15:52:43.262787-03
dc.journal.volume
77
dc.journal.number
1
dc.journal.pagination
73-93
dc.journal.pais
Alemania
dc.journal.ciudad
Berlin
dc.description.fil
Fil: Leica Arteaga, Paulo Cesar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.journal.title
Journal of Intelligent & Robotic Systems
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007%2Fs10846-014-0098-6
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1007/s10846-014-0098-6
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/10.1007/s10846-014-0098-6
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