Enabling Shared-Control for A Riding Ballbot System
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arXiv
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| author | Chen, Yu Mansouri, Mahshid Xiao, Chenzhang Wang, Ze Hsiao-Wecksler, Elizabeth T. Norris, William R. |
| author_facet | Chen, Yu Mansouri, Mahshid Xiao, Chenzhang Wang, Ze Hsiao-Wecksler, Elizabeth T. Norris, William R. |
| contents | This study introduces a shared-control approach for collision avoidance in a self-balancing riding ballbot, called PURE, marked by its dynamic stability, omnidirectional movement, and hands-free interface. Integrated with a sensor array and a novel Passive Artificial Potential Field (PAPF) method, PURE provides intuitive navigation with deceleration assistance and haptic/audio feedback, effectively mitigating collision risks. This approach addresses the limitations of traditional APF methods, such as control oscillations and unnecessary speed reduction in challenging scenarios. A human-robot interaction experiment, with 20 manual wheelchair users and able-bodied individuals, was conducted to evaluate the performance of indoor navigation and obstacle avoidance with the proposed shared-control algorithm. Results indicated that shared-control significantly reduced collisions and cognitive load without affecting travel speed, offering intuitive and safe operation. These findings highlight the shared-control system's suitability for enhancing collision avoidance in self-balancing mobility devices, a relatively unexplored area in assistive mobility research. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_07013 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Enabling Shared-Control for A Riding Ballbot System Chen, Yu Mansouri, Mahshid Xiao, Chenzhang Wang, Ze Hsiao-Wecksler, Elizabeth T. Norris, William R. Robotics I.2.9 This study introduces a shared-control approach for collision avoidance in a self-balancing riding ballbot, called PURE, marked by its dynamic stability, omnidirectional movement, and hands-free interface. Integrated with a sensor array and a novel Passive Artificial Potential Field (PAPF) method, PURE provides intuitive navigation with deceleration assistance and haptic/audio feedback, effectively mitigating collision risks. This approach addresses the limitations of traditional APF methods, such as control oscillations and unnecessary speed reduction in challenging scenarios. A human-robot interaction experiment, with 20 manual wheelchair users and able-bodied individuals, was conducted to evaluate the performance of indoor navigation and obstacle avoidance with the proposed shared-control algorithm. Results indicated that shared-control significantly reduced collisions and cognitive load without affecting travel speed, offering intuitive and safe operation. These findings highlight the shared-control system's suitability for enhancing collision avoidance in self-balancing mobility devices, a relatively unexplored area in assistive mobility research. |
| title | Enabling Shared-Control for A Riding Ballbot System |
| topic | Robotics I.2.9 |
| url | https://arxiv.org/abs/2409.07013 |