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A framework for shared motion control: Human-robot augmentation with applications to assistive technology.


Description

In this dissertation, we present a solution to the motion planning and control problem that combines three different, and at times conflicting, control inputs: deliberative plans, local reactive behaviors, and unpredictable user- initiated goals. We systematically bring together these different inputs and develop a shared motion control framework. This framework can be used for semi-autonomous robotic systems. Our experimental platform is a robotic wheelchair where the user and robot share control of the motion.