Engineering Commons^™

Designing Shared Control Strategies For Teleoperated Robots Across Intrinsic User Qualities, Nancy Pham

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

Accounting for variance in human behavior is an integral part of interacting with robotic systems that share control between users and robots in order to reduce errors, improve performance, and maintain safety. In this work we focus on the shared control of a telepresence robot and how individual user traits may affect a person's performance while navigating the robot. This requires understanding which user qualities impact performance and cause conflicts -- with the ultimate goal of building shared controllers that adapt to those qualities. Toward this goal, we develop novel adaptive shared controllers and integrate the study of intrinsic user …