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Human-Robot Interface for Embedding Sliding Adjustable Autonomy Methods.

Piatan Sfair Palar¹, Vinícius de Vargas Terres¹, André Schneider de Oliveira¹

¹Graduate School of Electrical Engineering and Computer Science (CPGEI), Federal University of Technology-Paraná (UTFPR), Avenida 7 de Setembro 3165, Curitiba 80230-901, Brazil.

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|October 24, 2020

Summary

This study introduces a new human-robot interface for climbing robots used in petrochemical tank inspections. The system adapts robot autonomy based on operator skill, enhancing safety and efficiency in weld bead inspection.

Keywords:

Myo armband fuzzy controller human–robot interface sliding autonomy

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Area of Science:

Robotics
Human-Robot Interaction
Industrial Automation

Background:

Petrochemical storage tanks require regular inspection of weld beads.
Current inspection methods may be labor-intensive and pose safety risks.
Automated solutions are needed to improve efficiency and accuracy.

Purpose of the Study:

To develop a novel human-robot interface for a climbing robot.
To adapt robot autonomy based on operator experience and skill.
To enhance the safety and effectiveness of weld bead inspection in storage tanks.

Main Methods:

A human-robot interface combining an industrial joystick and an electromyographic (EMG) armband.
A Fuzzy controller integrating operator inputs (joystick, EMG armband) and robot state (weld bead position, arm rotation).
Implementation of sliding autonomy with four distinct levels: Manual, Shared, Supervisory, and Autonomous.

Main Results:

The Fuzzy controller successfully adapts robot autonomy based on operator skill and real-time inputs.
Sliding autonomy allows for dynamic adjustment of control levels during operation.
Experiments in simulated environments demonstrated the effectiveness of different autonomy modes.

Conclusions:

The proposed human-robot interface enables adaptive robot autonomy for climbing robots.
The system can recognize operator skill and correct operational mistakes.
This approach offers a promising solution for safer and more efficient weld bead inspection in the petrochemical industry.