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Leader-follower coordinated control based on socially acceptable dynamics

Abstract:

A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect® sensor on board of a Pioneer 3AT® robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.

Año de publicación:

2015

Keywords:

    Fuente:

    googlegoogle
    scopusscopus

    Tipo de documento:

    Conference Object

    Estado:

    Acceso restringido

    Áreas de conocimiento:

    • Sistema de control

    Áreas temáticas:

    • Procesos sociales

    Contribuidores:

    Toibero M.Toibero M.
    Herrera D.Herrera D.
    Julio MontesdeocaJulio Montesdeoca
    Carelli R.Carelli R.
    Roberti F.Roberti F.