Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics
Conventional remote operation of an excavator has low work efficiency comparing with on-site operations. This is because it is difficult for an operator to recognize the excavator status and surrounding environments. Moreover, there are restrictions such as a limitation on the amount of information...
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2021-10-01
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| Series: | Mechanical Engineering Journal |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/mej/8/6/8_21-00127/_pdf/-char/en |
| _version_ | 1798022994794119168 |
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| author | Masafumi OKADA Kohei IWANO |
| author_facet | Masafumi OKADA Kohei IWANO |
| author_sort | Masafumi OKADA |
| collection | DOAJ |
| description | Conventional remote operation of an excavator has low work efficiency comparing with on-site operations. This is because it is difficult for an operator to recognize the excavator status and surrounding environments. Moreover, there are restrictions such as a limitation on the amount of information that can be transmitted, delays in communication, and harsh environments that cause sensor failure. Therefore, we have developed a semi-autonomous control system that consists of autonomy and human manipulation. This paper proposes (1) a bilateral control system based on variable admittance and (2) an autonomous control using nonlinear dynamics that has attractors with stagnation and trajectory-bifurcation. (1) In the proposed method, the admittance parameters are changed based on the difference between the leader and follower position. We implement the proposed method into a prototype of excavator and verify the operation with two types of external environmental forces: free movement and contact with a rock. (2) The attractor’s stagnation is designed as a sink of vector field converging to an arbitrary point on the trajectory. A stagnation is placed at a trajectory’s bifurcation point, and the operator selects the next operation by adding a force to the leader system, which is measured through a force sensor. We design two types of bifurcating attractors and conduct an experimental verification of the proposed semi-autonomous control system. |
| first_indexed | 2024-04-11T17:39:01Z |
| format | Article |
| id | doaj.art-7cd676531d814c0ebd86b8c2570b5037 |
| institution | Directory Open Access Journal |
| issn | 2187-9745 |
| language | English |
| last_indexed | 2024-04-11T17:39:01Z |
| publishDate | 2021-10-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Mechanical Engineering Journal |
| spelling | doaj.art-7cd676531d814c0ebd86b8c2570b50372022-12-22T04:11:32ZengThe Japan Society of Mechanical EngineersMechanical Engineering Journal2187-97452021-10-018621-0012721-0012710.1299/mej.21-00127mejHuman interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamicsMasafumi OKADA0Kohei IWANO1Department of Mechanical Engineering, Tokyo Institute of TechnologyDepartment of Mechanical Engineering, Tokyo Institute of TechnologyConventional remote operation of an excavator has low work efficiency comparing with on-site operations. This is because it is difficult for an operator to recognize the excavator status and surrounding environments. Moreover, there are restrictions such as a limitation on the amount of information that can be transmitted, delays in communication, and harsh environments that cause sensor failure. Therefore, we have developed a semi-autonomous control system that consists of autonomy and human manipulation. This paper proposes (1) a bilateral control system based on variable admittance and (2) an autonomous control using nonlinear dynamics that has attractors with stagnation and trajectory-bifurcation. (1) In the proposed method, the admittance parameters are changed based on the difference between the leader and follower position. We implement the proposed method into a prototype of excavator and verify the operation with two types of external environmental forces: free movement and contact with a rock. (2) The attractor’s stagnation is designed as a sink of vector field converging to an arbitrary point on the trajectory. A stagnation is placed at a trajectory’s bifurcation point, and the operator selects the next operation by adding a force to the leader system, which is measured through a force sensor. We design two types of bifurcating attractors and conduct an experimental verification of the proposed semi-autonomous control system.https://www.jstage.jst.go.jp/article/mej/8/6/8_21-00127/_pdf/-char/entele-operationbilateral leader-followerphysical human-robot interactionsemi-autonomyhuman performance augmentation |
| spellingShingle | Masafumi OKADA Kohei IWANO Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics Mechanical Engineering Journal tele-operation bilateral leader-follower physical human-robot interaction semi-autonomy human performance augmentation |
| title | Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics |
| title_full | Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics |
| title_fullStr | Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics |
| title_full_unstemmed | Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics |
| title_short | Human interface design for semi-autonomous control of leader-follower excavator based on variable admittance and stagnation/trajectory bifurcation of nonlinear dynamics |
| title_sort | human interface design for semi autonomous control of leader follower excavator based on variable admittance and stagnation trajectory bifurcation of nonlinear dynamics |
| topic | tele-operation bilateral leader-follower physical human-robot interaction semi-autonomy human performance augmentation |
| url | https://www.jstage.jst.go.jp/article/mej/8/6/8_21-00127/_pdf/-char/en |
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