Human interface for maneuvering nonholonomic systems.pdfVIP

Human Interface for Maneuvering Nonholonomic Systems Hirohiko Arai Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology 1-2 Namiki, Tsukuba, Ibaraki 305-8564, Japan Email: h.arai@aist.go.jp Abstract These typ es of nonholonomic systems have the fol- lowing characteristics; Humans can easily maneuver some types of non- (a) The system is often controllable and the system holonomic systems, e.g. wheeled vehicles, while other can reach any conguration. types, e.g. space robots, are dicult to hand le intu- itively. We propose a human interface to simplify the (b) The comp onents of the input u are fewer than operation of \dicult nonholonomic systems, which those of the state q . utilizes the human ability to maneuver \easy systems. (c) The linear approximation of the system (2) is un- The dicult real system is converted into an easy vir- controllable. tual system using coordinate and input transforma- tion. The input from the human operator to the virtual (d) There exists no time-invariant state feedback law system is converted into input to the real system, while that stabilizes the system to an equilibrium state the state of the real system is converted into that of (Bro cketts theorem [7]). the virtual system which