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Fuzzy Logic Control for Gaze-Guided Personal Assistance Robots

Authors:
Carl A. Nelson

Keywords: gaze tracking; fuzzy logic; autonomous robot; obstacle avoidance; personal assistance robot

Abstract:
As longer lifespans become the norm and modern healthcare allows individuals to live more functional lives despite physical disabilities, there is an increasing need for personal assistance robots. One of the barriers to this shift in healthcare technology is the ability of the human operator to communicate his/her intent to the robot. In this paper, a method of interpreting eye gaze data using fuzzy logic for robot control is presented. Simulation results indicate that the fuzzy logic controller can successfully infer operator intent, modulate speed and direction accordingly, and avoid obstacles in a target following task relevant to personal assistance robots.

Pages: 25 to 28

Copyright: Copyright (c) IARIA, 2014

Publication date: June 22, 2014

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-352-0

Location: Seville, Spain

Dates: from June 22, 2014 to June 26, 2014