Enabling Shared-Control for A Riding Ballbot System
| Autor: | Chen, Yu, Mansouri, Mahshid, Xiao, Chenzhang, Wang, Ze, Hsiao-Wecksler, Elizabeth T., Norris, William R. |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | 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. Comment: 7 pages and 7 figures, IEEE ICRA format |
| Databáze: | arXiv |
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