RESEARCH COMMONS
LIBRARY

Adaptive Methods For Realistic And Intuitive Human-robot Interaction

ResearchCommons/Manakin Repository

Adaptive Methods For Realistic And Intuitive Human-robot Interaction

Show simple item record

dc.contributor.author Rajruangrabin, Jartuwat en_US
dc.date.accessioned 2011-03-03T21:51:08Z
dc.date.available 2011-03-03T21:51:08Z
dc.date.issued 2011-03-03
dc.date.submitted January 2010 en_US
dc.identifier.other DISS-10926 en_US
dc.identifier.uri http://hdl.handle.net/10106/5395
dc.description.abstract Due to the advancement in robotics and computer technology, having access to sophisticated robot hardware is becoming common. An increase in the number of robots allows one to achieve different kind of tasks by exploiting cooperation, such as: robot swarms, object manipulation using multiple degrees of freedom of different robots. It is quite challenging for the human operator to coordinate multiple robots to achieve a task in an efficient manner. The channels available to receive feedback information from the robot system can vary from simple encoder reading to video stream acquisition of the robot system performing tasks. It is important for us to make use of and coordinate as many sensing modalities as it is required to perform necessary tasks. On the other hand, we would want to keep the number of modalities utilized optimal just to maintain usage intuitiveness for human operators and efficiency.In this dissertation, we have investigated 3 different modalities of interaction with robots. Physical sensing: we present a novel approach to enhance human-robot interactivity through the use of artificial skin and the Extended Kalman filter. Visual sensing: we present a novel approach to enhance interaction of humanoid robot actor through the use of pose estimation and visual servoing. Interface devices: we present a work on combining dynamic gestures based commands from an interface device to improve the intuitiveness of control / planning of multiple degrees of freedom robot system through reinforcement learning.We propose an efficient way to coordinate multiple modalities sensing as generalized interface for multiple robots manipulation / planning. In addition, performance metrics are proposed so that we have the quantitative way to identify our interaction efficiency. Eventually, the outcome of this research is a reconfigurable multiple interfaces system that can be used with different multiple robots system in a way that it is easy and intuitive for the human operator to learn to operate. en_US
dc.description.sponsorship Popa, Dan en_US
dc.language.iso en en_US
dc.publisher Electrical Engineering en_US
dc.title Adaptive Methods For Realistic And Intuitive Human-robot Interaction en_US
dc.type Ph.D. en_US
dc.contributor.committeeChair Popa, Dan en_US
dc.degree.department Electrical Engineering en_US
dc.degree.discipline Electrical Engineering en_US
dc.degree.grantor University of Texas at Arlington en_US
dc.degree.level doctoral en_US
dc.degree.name Ph.D. en_US

Files in this item

Files Size Format View
Rajruangrabin_uta_2502D_10926.pdf 8.884Mb PDF View/Open

This item appears in the following Collection(s)

Show simple item record

Browse

My Account

Statistics

About Us