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Chapitre D'ouvrage Année : 2010

An original approach for a better remote control of an assistive robot

Résumé

Different works have been performed on robotic arms in three kinds of situations: a static arm, an arm mounted on a wheelchair and an arm mounted on a separate platform. The last configuration allows the largest number of use cases but also poses more difficulties for piloting the robot. The assistive robotics can also deal with security and cognitive stimulation. For assisting a distant operator in alarm detection, the idea is to give him the possibility to have complementary information from a mobile robot about the person's activity at home and to be in contact with the person. The robot can also be used to bring to the person cognitive stimulation exercises and encourage the person to perform them. To perform these tasks, it is very difficult to have a totally autonomous robot. The idea is to develop a semi-autonomous robot that a remote operator can manually pilot with some driving assistances. Different control modes of the robot by a remote operator are proposed, from a totally manual mode to a totally autonomous mode. The most interesting modes are the shared control modes in which the control of the degrees of freedom is shared between the human operator and the robot. The third point is to deal with delay. Indeed, the distance between the remote operator and the robot induces communication delays that must be taken into account in terms of feedback information to the user.
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Dates et versions

hal-00604439 , version 1 (29-06-2011)

Identifiants

  • HAL Id : hal-00604439 , version 1

Citer

Sébastien Delarue, Paul Nadrag, Antonio Andriatrimoson, Etienne Colle, Philippe Hoppenot. An original approach for a better remote control of an assistive robot. Remote and Telerobotics, InTech, pp.191--220, 2010. ⟨hal-00604439⟩
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