A Stable and Transparent Framework for Adaptive Shared Control of Robots--一种稳定透明的机器人自适应共享控制框架

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Springer Tracts in Advanced Robotics 158

Ribin Balachandran

A Stable and

Transparent

Framework

for Adaptive Shared

Control of Robots

Springer Tracts in Advanced Robotics

Volume 158

Series Editors

Bruno Siciliano, Dipartimento di Ingegneria Elettrica e Tecnologie

dell’Informazione, Università degli Studi di Napoli Federico II, Napoli, Italy

Oussama Khatib, Artiﬁcial Intelligence Laboratory, Department of Computer

Science, Stanford University, Stanford, CA, USA

Advisory Editors

Nancy Amato, Department of Computer Science and Engineering, Texas A and M

University, College Station, TX, USA

Oliver Brock, Fakultät IV, TU Berlin, Berlin, Germany

Herman Bruyninckx, KU Leuven, Heverlee, Belgium

Wolfram Burgard, Institute of Computer Science, University of Freiburg, Freiburg,

Baden-Württemberg, Germany

Raja Chatila, ISIR, Paris cedex 05, France

Francois Chaumette, IRISA/INRIA, Rennes, Ardennes, France

Wan Kyun Chung, Robotics Laboratory, Department of Mechanical Engineering,

POSTECH, Pohang, Korea (Republic of)

Peter Corke, Queensland University of Technology, Brisbane, QLD, Australia

Paolo Dario, LEM, Scuola Superiore Sant’Anna, Pisa, Italy

Alessandro De Luca, DIAGAR, Sapienza Università di Roma, Roma, Italy

Rüdiger Dillmann, Humanoids and Intelligence Systems Lab, KIT - Karlsruher

Institut für Technologie, Karlsruhe, Germany

Ken Goldberg, University of California, Berkeley, CA, USA

John Hollerbach, School of Computing, University of Utah, Salt Lake, UT, USA

Lydia E. Kavraki, Department of Computer Science, Rice University, Houston, TX,

USA

Vijay Kumar, School of Engineering and Applied Mechanics, University of

Pennsylvania, Philadelphia, PA, USA

Bradley J. Nelson, Institute of Robotics and Intelligent Systems, ETH Zurich,

Zürich, Switzerland

Frank Chongwoo Park, Mechanical Engineering Department, Seoul National

University, Seoul, Korea (Republic of)

S. E. Salcudean , The University of British Columbia, Vancouver, BC, Canada

Roland Siegwart, LEE J205, ETH Zürich, Institute of Robotics & Autonomous

Systems Lab, Zürich, Switzerland

Gaurav S. Sukhatme, Department of Computer Science, University of Southern

California, Los Angeles, CA, USA

The Springer Tracts in Advanced Robotics (STAR) publish new developments and

advances in the ﬁelds of robotics research, rapidly and informally but with a high

quality. The intent is to cover all the technical contents, applications, and multi-

disciplinary aspects of robotics, embedded in the ﬁelds of Mechanical Engineering,

Computer Science, Electrical Engineering, Mechatronics, Control, and Life

Sciences, as well as the methodologies behind them. Within the scope of the series

are monographs, lecture notes, selected contributions from specialized conferences

and workshops, as well as selected PhD theses.

Special offer: For all clients with a print standing order we offer free access to the

electronic volumes of the Series published in the current year.

Indexed by SCOPUS, DBLP, EI Compendex, zbMATH, SCImago.

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摘要：

This paper introduces a stable and transparent framework for adaptive shared control of robots, designed to balance human input and autonomous assistance in real time while maintaining system stability and operator transparency. The framework address

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A Stable and Transparent Framework for Adaptive Shared Control of Robots--一种稳定透明的机器人自适应共享控制框架

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