TY - GEN
T1 - Fuzzy logic and control in Human-Robot Systems - Geometrical and kinematic considerations
AU - Palm, Rainer
AU - Lilienthal, Achim J.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/12
Y1 - 2018/10/12
N2 - The interaction between humans and mobile robots in shared areas requires adequate control for both humans and robots. The online path planning of the robot depending on the estimated or intended movement of the person is crucial for the obstacle avoidance and close cooperation between them. The velocity obstacles method and its fuzzification optimizes the relationship between the velocities of a robot and a human agent during the interaction. In order to find the estimated intersection between robot and human in the case of positions/orientations disturbed by noise, analytical and fuzzified versions are presented. The orientation of a person is estimated by eye tracking, with the help of which the intersection area is calculated. Eye tracking leads to clusters of fixations that are condensed into cluster centers by fuzzy-time clustering to detect the intention and attention of humans.
AB - The interaction between humans and mobile robots in shared areas requires adequate control for both humans and robots. The online path planning of the robot depending on the estimated or intended movement of the person is crucial for the obstacle avoidance and close cooperation between them. The velocity obstacles method and its fuzzification optimizes the relationship between the velocities of a robot and a human agent during the interaction. In order to find the estimated intersection between robot and human in the case of positions/orientations disturbed by noise, analytical and fuzzified versions are presented. The orientation of a person is estimated by eye tracking, with the help of which the intersection area is calculated. Eye tracking leads to clusters of fixations that are condensed into cluster centers by fuzzy-time clustering to detect the intention and attention of humans.
UR - http://www.scopus.com/inward/record.url?scp=85060446477&partnerID=8YFLogxK
U2 - 10.1109/FUZZ-IEEE.2018.8491594
DO - 10.1109/FUZZ-IEEE.2018.8491594
M3 - Conference contribution
AN - SCOPUS:85060446477
T3 - IEEE International Conference on Fuzzy Systems
BT - 2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018
Y2 - 8 July 2018 through 13 July 2018
ER -