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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2407.17936 |
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| _version_ | 1866916336143171584 |
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| author | Muraoka, Tomoka Aoki, Tatsuya Hirata, Masayuki Taniguchi, Tadahiro Horii, Takato Nagai, Takayuki |
| author_facet | Muraoka, Tomoka Aoki, Tatsuya Hirata, Masayuki Taniguchi, Tadahiro Horii, Takato Nagai, Takayuki |
| contents | In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and uncertainty due to noise. To address these challenges, our method estimates the user's intended goal from their commands and uses this goal to generate auxiliary commands through the autonomous system that are both at a higher input frequency and more continuous. Furthermore, by defining the confidence level of the estimation, we adaptively calculated the weights for combining user and autonomous commands, thus achieving shared control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_17936 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Goal Estimation-based Adaptive Shared Control for Brain-Machine Interfaces Remote Robot Navigation Muraoka, Tomoka Aoki, Tatsuya Hirata, Masayuki Taniguchi, Tadahiro Horii, Takato Nagai, Takayuki Robotics In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and uncertainty due to noise. To address these challenges, our method estimates the user's intended goal from their commands and uses this goal to generate auxiliary commands through the autonomous system that are both at a higher input frequency and more continuous. Furthermore, by defining the confidence level of the estimation, we adaptively calculated the weights for combining user and autonomous commands, thus achieving shared control. |
| title | Goal Estimation-based Adaptive Shared Control for Brain-Machine Interfaces Remote Robot Navigation |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.17936 |