Multimodal Control of a Robotic Wheelchair: Using Contextual Information for Usability Improvement

Jesús Arturo Escobedo Cabello 1, * Anne Spalanzani 1, * Christian Laugier 1
* Auteur correspondant
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : In this paper, a method to perform semi-autonomous navigation on a wheelchair is presented. The wheelchair could be controlled in semi-autonomous mode estimating the user's intention by using a face pose recognition system or in manual mode. The estimator was performed within a Bayesian network approach. To switch these two modes, a speech interface was used. The user's intention was modeled as a set of typical destinations visited by the user. The algorithm was implemented to one experimental wheelchair robot. The new application of the wheelchair system with more natural and easy-to-use human machine interfaces was one of the main contributions. as user's habits and points of interest are employed to infer the user's desired destination in a map. Erroneous steering signals coming from the user- machine interface input are filtered out, improving the overall performance of the system. Human aware navigation, path planning and obstacle avoidance are performed by the robotic wheelchair while the user is just concerned with "looking where he wants to go".
Type de document :
Communication dans un congrès
IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. 2013
Liste complète des métadonnées

Littérature citée [16 références]  Voir  Masquer  Télécharger
https://hal.inria.fr/hal-00910028
Contributeur : Jesús Arturo Escobedo Cabello <>
Soumis le : mercredi 27 novembre 2013 - 11:42:31
Dernière modification le : mercredi 11 avril 2018 - 01:55:44
Document(s) archivé(s) le : vendredi 28 février 2014 - 04:38:10

Fichier

document.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00910028, version 1

Collections

INRIA | UGA | LIG_SRCPR | LIG_SIC_E-MOTION | LIG

Citation

Jesús Arturo Escobedo Cabello, Anne Spalanzani, Christian Laugier. Multimodal Control of a Robotic Wheelchair: Using Contextual Information for Usability Improvement. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2013, Tokyo, Japan. 2013. 〈hal-00910028〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

541

Téléchargements de fichiers

497

Contact


archive-ouverte@inria.fr