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Fuzzy logic and control in Human-Robot Systems: geometrical and kinematic considerations
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2018 (English)In: WCCI 2018: 2018 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) / [ed] IEEE, IEEE, 2018, p. 827-834Conference paper, Published paper (Refereed)
Abstract [en]

The interaction between humans and mobile robots in shared areas requires adequate control for both humans and robots.The online path planning of the robot depending on the estimated or intended movement of the person is crucial for the obstacle avoidance and close cooperation between them. The velocity obstacles method and its fuzzification optimizes the relationship between the velocities of a robot and a human agent during the interaction. In order to find the estimated intersection between robot and human in the case of positions/orientations disturbed by noise, analytical and fuzzified versions are presented. The orientation of a person is estimated by eye tracking, with the help of which the intersection area is calculated. Eye tracking leads to clusters of fixations that are condensed into cluster centers by fuzzy-time clustering to detect the intention and attention of humans.

Place, publisher, year, edition, pages
IEEE, 2018. p. 827-834
Keywords [en]
Human-robot interaction, fuzzy control, obstacle avoidance, eye tracking
National Category
Robotics
Research subject
Human-Computer Interaction
Identifiers
URN: urn:nbn:se:oru:diva-68021ISBN: 978-1-5090-6020-7 (electronic)OAI: oai:DiVA.org:oru-68021DiVA, id: diva2:1234103
Conference
FUZZ-IEEE 2018, Rio de Janeiro, Brazil, 8-13 July, 2018
Available from: 2018-07-23 Created: 2018-07-23 Last updated: 2018-09-04Bibliographically approved

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Palm, RainerLilienthal, Achim

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf