11/21

November 21, 2018

Kolloquium Technische Kybernetik

Passivity-Based Cooperative Control of Human-Robotic Network and Human Passivity Analysis

Time
November 21, 2018 2:00 PM   until 3:00 PM  
Lecturer
Dr. Junya Yamauchi

Passivity-Based Cooperative Control of Human-Robotic Network and Human Passivity Analysis

Abstract

Robotic coordination tasks in uncertain environments require us to take advantage of human operators’ highlevel decision-making ability and flexibility. Motivated by these needs, semi-autonomous operation of robots has been gaining increasing research interests. One of the most promising design tools for such semiautonomous systems is passivity. In the research field of bilateral teleoperation, the human operator is treated as a passive system and control architectures are designed while ensuring stability based on this assumption.

In this talk, we present a human operator enabled position/velocity synchronization of robotic network to human references. A feedback loop connecting the human operator and the robotic network is designed based on passivity. Then, asymptotic synchronization of robotic network to a human desired position/velocity is guaranteed with a passivity assumption of human operator decision processes inspired by classical teleoperation systems. The passivity assumption is investigated through experiments on a human-in-the-loop simulation. Furthermore, we extend the result and present a cooperative control with passivity-short human operator. Finally, we address the results of user studies again and investigate passivity-shortness of human operators and also perceived workload.

Dr. Junya Yamauchi

Junya Yamauchi received B.Eng. degree from Nagoya University, M. Eng. degree and Ph.D. degree from Tokyo Institute of Technology, Japan. He is currently an assistant professor in the Department of Systems and Control Engineering, Tokyo Institute of Technology. His research interests include passivity-based cooperative control of human-robotic network and visual motion estimation and control.

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Institut für Systemdynamik
Seminarraum 1.01
Waldburgstraße 19
70563  Stuttgart
Link: Anfahrt 
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