Human-Robot Interaction Using Pointing Gestures

Tölgyessy, Michal; Dekan, Martin; Hubinský, Peter

doi:10.1145/3284557.3284718

Cited by 3 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…One of the ways to take into account the characteristics of a person in such systems is related to obtaining information about human actions in real time. Work [12] reports the results of research within the concept of pHRI using appropriate tests to control the mobile robot E-puck (Switzerland). Control is carried out using appropriate algorithms that use information from primary sensors.…”

Section: The Aim and Objectives Of The Studymentioning

confidence: 99%

Justification of the method for determining the dynamic parameters of the mobile fire fighting installation operator

Abramov

Basmanov

Sobyna

et al. 2023

EEJET

View full text Add to dashboard Cite

The object of this study is the process of functioning of the "man-robot" system. The task to coordinate parameters of the human operator and the robot is investigated. Aligning these parameters is based on the method of determining the dynamic parameters of the human operator using mathematical models that describe two types of relative errors. The first type includes relative errors in determining the dynamic parameters of the operator, which depend on the error in determining the signals characterizing his response to the test impact. The second type of relative errors is the methodical error, which is due to the approximation of partial derivatives. The formation of a test impact on the operator is carried out using an interactive whiteboard. The method is based on finding the roots of a linear system of algebraic equations, for the construction of which an approximation of partial derivatives from signals characterizing the operator's response to the test effect is used. The parameters of this system of algebraic equations depend on time parameters. Determination of time parameters is carried out using tolerance criteria and using nomograms. When justifying the main parameter of the test impact on the operator – the speed of movement of the fire front on the interactive whiteboard screen, the properties of the angular eye control system of the mobile fire installation operator are used. These properties are formalized as a mathematical model of dynamic error, which occurs in the process of tracking by the operator the image of a fire on the interactive whiteboard screen. To verify the obtained results, a test problem has been solved; it is shown that the error in determining the dynamic parameters of the operator does not exceed 1.0 %. The results reported here could be used for designing mobile fire installations of a new generation, the structure of which is based on the use of segways

show abstract

Section: The Aim and Objectives Of The Studymentioning

confidence: 99%

Justification of the method for determining the dynamic parameters of the mobile fire fighting installation operator

Abramov

Basmanov

Sobyna

et al. 2023

EEJET

View full text Add to dashboard Cite

show abstract

“…are not taken into account. [9] shows the results of research on HRI (human-robot interaction) using gestures. But the dynamic parameters of the operator were also not considered.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Developing a method for determining the dynamic parameters of the operator of a mobile fire engine based on a Segway

Abramov

Basmanov

Kryvtsova

et al. 2021

EEJET

View full text Add to dashboard Cite

A method for determining the dynamic parameters of the operator of a mobile fire engine based on a segway, which fully characterize its dynamic properties – delay time and inertia was developed. The development of the method includes four stages. At the first stage, the problem of obtaining analytical relationships for determining the dynamic parameters of the operator is solved. These relationships include the frequency characteristics of the operator at a fixed frequency and its static parameter. At the second stage, the choice of a fixed frequency is substantiated using a criterion that minimizes errors in determining the dynamic parameters. It is shown that the fixed frequency for the characteristic parameters of the operator does not exceed 0.5 Hz. The third stage includes substantiation of the procedure for determining the frequency characteristics of the operator and its static parameter. The frequency characteristics of the operator at a fixed frequency and its static parameter are determined numerically. This procedure is based on using the data obtained by measuring the values of the operator’s transfer function at fixed time intervals. To obtain data, an interactive analog engine is used, which can also perform the functions of a simulator. The time intervals are chosen according to the Kotelnikov-Nyquist-Shannon theorem. At the last stage, the procedure for determining the dynamic parameters of the operator of a segway-based mobile fire engine is described. It is shown that the error in determining the dynamic parameters of the operator of a mobile fire engine does not exceed 9.0 %, if the error in determining its frequency characteristics at a frequency of 2.5 s–1 does not exceed 2.0 %

show abstract