刘爽, 朱国栋. 基于操作者表现的机器人遥操作方法[J]. 机器人, 2018, 40(4): 540-550. DOI: 10.13973/j.cnki.robot.180087
引用本文: 刘爽, 朱国栋. 基于操作者表现的机器人遥操作方法[J]. 机器人, 2018, 40(4): 540-550. DOI: 10.13973/j.cnki.robot.180087
LIU Shuang, ZHU Guodong. A Performance of Teleoperator Based Method for Telerobotic System[J]. ROBOT, 2018, 40(4): 540-550. DOI: 10.13973/j.cnki.robot.180087
Citation: LIU Shuang, ZHU Guodong. A Performance of Teleoperator Based Method for Telerobotic System[J]. ROBOT, 2018, 40(4): 540-550. DOI: 10.13973/j.cnki.robot.180087

基于操作者表现的机器人遥操作方法

A Performance of Teleoperator Based Method for Telerobotic System

  • 摘要: 针对遥操作机器人,提出了一种操作者表现(PoT)的在线识别方法以及基于PoT的遥操作移动机器人控制框架.首先,通过分析遥操作者的EEG(脑电信号)获得5个PoT指标,并使用BP(反向传播)神经网络对其进行建模,从而实现对遥操作者表现的在线识别.随后,设计了一种基于PoT动态调节遥操作共享控制系统中的控制权重的策略.选取3名不同遥操作者进行了在线PoT识别及基于PoT的共享控制遥操作实验,实验结果证明该方法能够有效地在线识别PoT,同时基于PoT的控制框架提升了遥操作的效率和安全性.

     

    Abstract: For telerobotic system, an online PoT (performance of teleoperator) identification method and a PoT based control framework for the mobile telerobotic system are proposed. Firstly, 5 PoT indicators are extracted by analyzing electroencephalography (EEG) signals of the teleoperator, and BP (backpropagation) neural network is used to model those indicators, so that the PoT can be identified online. Then, a dynamic adjustment strategy of control weights in a teleoperation shared control system is proposed based on PoT. Finally, experiments on the online PoT identification and the PoT based shared control teleoperation are performed with 3 teleoperators. The results demonstrate the effectiveness of the proposed method in PoT online identification, as well as the enhancement of teleoperation efficiency and safety by the PoT based control framework.

     

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