Adaptive optimal control for coordination in physical human-robot interaction

Li, Yanan, Tee, Keng Peng, Yan, Rui, Chan, Wei Liang, Wu, Yan and Limbu, Dilip Kumar (2015) Adaptive optimal control for coordination in physical human-robot interaction. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September - 2 October 2015. Published in: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 20-25. Institute of Electrical and Electronics Engineers ISBN 9781479999941

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Abstract

In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full control of the system when there is no human intervention. In the other boundary condition, it becomes a follower when the human exhibits strong intention to lead the task. Experimental results show that the proposed method yields better overall performance than fixed-role interactions.

Item Type: Conference Proceedings
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 15 Dec 2017 09:55
Last Modified: 15 Dec 2017 09:55
URI: http://sro.sussex.ac.uk/id/eprint/72077

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