Intuitive control of mobile robots: an architecture for autonomous adaptive dynamic behaviour integration

This paper presents a novel approach to human-robot control inspired by behavior-based robotics and self-organization principles. We introduce an interfacing mechanism capable of adapting to both the user and the robotic morphology, aiming to create a transparent connection between user and robot. This allows for seamless integration of control signals and robot behaviors. Unlike traditional systems where users must adapt to specific interfaces and control paradigms, this architecture enables users to shape control motifs according to their preferences, eliminating the need to learn specific device operations. Starting from a tabula rasa basis, the system identifies control patterns (behaviors) for the given robotic morphology and successfully merges them with user control signals, regardless of the input device used. The structural components of the interface are presented and assessed both individually and as a whole, highlighting inherent and emergent properties of the architecture. Overall, this paradigm of control underscores the potential for a shift in robotic control approaches and introduces a new level in the taxonomy of human-in-the-loop systems.

Cognitive Processing