论文标题
人类意识的控制器，用于通过物理互动引导人类的束缚空中机器人
Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction
论文作者
论文摘要
随着空中互动的快速发展，使空中机器人与人体进行物理相互作用的可能性引起了人们的兴趣。在我们以前的一项作品中，我们考虑了人类通过电缆物理连接到航空车辆的第一个系统之一。在那里，我们开发了一个合规的控制器，该控制器允许机器人仅用作为间接通信通道的力将人类拉向所需的位置。但是，该控制器仅基于机器人状态，这使得系统不适合人类行为，尤其是其步行速度。当人类仍然远离所需点时，这降低了指导的有效性和舒适性。在本文中，我们正式分析了该问题，并提出了一个人类感知的控制器，其中包括人类的速度反馈。从理论上讲，我们证明并在实验上表明，该方法提供了更一致的指导力，从而增强了指导体验。
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in which a human is physically connected to an aerial vehicle by a cable. There, we developed a compliant controller that allows the robot to pull the human toward a desired position using forces only as an indirect communication-channel. However, this controller is based on the robot-state only, which makes the system not adaptable to the human behavior, and in particular to their walking speed. This reduces the effectiveness and comfort of the guidance when the human is still far from the desired point. In this paper, we formally analyze the problem and propose a human-state-aware controller that includes a human`s velocity feedback. We theoretically prove and experimentally show that this method provides a more consistent guiding force which enhances the guiding experience.
