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User–Robot Interaction for Safe Navigation of a Quadrotor

Published online by Cambridge University Press:  29 January 2020

L. F. Sanchez ,
H. Abaunza Open the ORCID record for H. Abaunza [Opens in a new window]  and
P. Castillo Open the ORCID record for P. Castillo [Opens in a new window]
L. F. Sanchez
Affiliation:
Sorbonne Universités, Université de Technologie de Compiègne, CNRS, UMR 7253, Heudiasyc, 57 Avenue de Landshut, CS 60319, 60203 Compiègne cedex, France E-mail: habaunza@hds.utc.fr Instituto Tecnológico y de Estudios Superiores de Monterrey, Mexico E-mail: luisanch@etu.utc.fr
H. Abaunza
Affiliation:
Sorbonne Universités, Université de Technologie de Compiègne, CNRS, UMR 7253, Heudiasyc, 57 Avenue de Landshut, CS 60319, 60203 Compiègne cedex, France E-mail: habaunza@hds.utc.fr
P. Castillo*
Affiliation:
Sorbonne Universités, Université de Technologie de Compiègne, CNRS, UMR 7253, Heudiasyc, 57 Avenue de Landshut, CS 60319, 60203 Compiègne cedex, France E-mail: habaunza@hds.utc.fr
*
*Corresponding author. E-mail: castillo@hds.utc.fr
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Summary

This paper introduces an intuitive and safe command approach for a quadrotor, where inertial and muscular gestures are used for semi-autonomous flight. A bracelet composed of gyroscopes, accelerometers, and electromyographic sensors is used to detect user gestures, then an algorithm is proposed to interpret the signals as flight commands. The main goal is to provide a wearable, easy-to-handle human–machine interface for users a to safely command this kind of vehicles, even for inexpert operators. Safety measures are incorporated in the scheme to further enhance the user’s experience. Experimental tests are performed to validate the proposal.

Keywords

QuadrotorQuaternionGesture commandUnmanned aerial vehiclesUser–Robot interaction
Type
Articles
Information
Robotica , Volume 38 , Issue 12 , December 2020 , pp. 2189 - 2203
Copyright
Copyright © Cambridge University Press 2020

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