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Publication type: Article in Proceedings
Author: Felix Goldau, Udo Frese
Title: Probabilistic Combination of Heuristic Behaviors for Shared Assistive Robot Control
Book / Collection title: The PErvasive Technologies Related to Assistive Environments (PETRA) conference (PETRA ’24)
Page(s): 9
Year published: 2024
Publisher: ACM
Abstract: Technology in general is developed to improve the lives of their users, often by allowing them to handle individual struggles. Assistive robotics takes this concept to its extreme by (re-) enabling users to physically interact with their environment in their daily life. For a successful utilization however, a user interface is required that allows for easy and quick interaction. Based on the promising concept of Adaptive Degree of Freedom (DoF) Control, this paper presents a novel heuristic implementation of the underlying principle, without relying on learning user actions.

To achieve this, a mixture distribution is obtained which expresses how likely the user wants which motion. Here, every mode of the mixture represents a heuristic behavior. Each such behavior defines its own distribution of motion, as well as a weight indicating how likely it is in the current situation. The best fitting DoF is obtained from this mixture and offered to the user with an interface.

This general-purpose control method has been tested in a small technical study, the results of which show its general viability, promising chances for a significant reduction of mode changes, as well as very good quantitative feedback by the users.
PDF Version: https://doi.org/10.1145/3652037.3652071
Note / Comment: Best Technical Paper award
Status: Reviewed
Last updated: 16. 09. 2024

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