Home // International Journal On Advances in Intelligent Systems, volume 8, numbers 1 and 2, 2015 // View article

Fuzzy Control for Gaze-Guided Personal Assistance Robots: Simulation and Experimental Application

Authors:
Carl A. Nelson
Xiaoli Zhang
Jeremy Webb
Songpo Li

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. The fuzzy logic approach is then validated through navigation experiments using a small humanoid robot.

Pages: 77 to 84

Copyright: Copyright (c) to authors, 2015. Used with permission.

Publication date: June 30, 2015

Published in: journal

ISSN: 1942-2679