CtoC28jul16.pdf (745.34 kB)
A framework of human–robot coordination based on game theory and policy iteration
journal contribution
posted on 2023-06-09, 09:22 authored by Yanan LiYanan Li, Keng Peng Tee, Rui Yan, Wei Liang Chan, Yan WuIn this paper, we propose a framework to analyze the interactive behaviors of human and robot in physical interactions. Game theory is employed to describe the system under study, and policy iteration is adopted to provide a solution of Nash equilibrium. The human’s control objective is estimated based on the measured interaction force, and it is used to adapt the robot’s objective such that human-robot coordination can be achieved. The validity of the proposed method is verified through a rigorous proof and experimental studies.
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on RoboticsISSN
1552-3098Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
6Volume
32Page range
1408-1418Department affiliated with
- Engineering and Design Publications
Notes
(c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-14First Open Access (FOA) Date
2017-12-14First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC