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Continuous role adaptation for human-robot shared control

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posted on 2023-06-09, 09:24 authored by Yanan LiYanan Li, Keng Peng Tee, Wei Liang Chan, Rui Yan, Yuanwei Chua, Dilip Kumar Limbu
In this paper, we propose a role adaptation method for human-robot shared control. Game theory is employed for fundamental analysis of this two-agent system. An adaptation law is developed such that the robot is able to adjust its own role according to the human’s intention to lead or follow, which is inferred through the measured interaction force. In the absence of human interaction forces, the adaptive scheme allows the robot to take the lead and complete the task by itself. On the other hand, when the human persistently exerts strong forces that signal an unambiguous intent to lead, the robot yields and becomes the follower. Additionally, the full spectrum of mixed roles between these extreme scenarios is afforded by continuous online update of the control that is shared between both agents. Theoretical analysis shows that the resulting shared control is optimal with respect to a two-agent coordination game. Experimental results illustrate better overall performance, in terms of both error and effort, compared to fixed-role interactions.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Robotics

ISSN

1552-3098

Publisher

Institute of Electrical and Electronics Engineers

Issue

3

Volume

31

Page range

672-681

Department affiliated with

  • Engineering and Design Publications

Notes

(c) 2015 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

2017-12-15

First Open Access (FOA) Date

2017-12-15

First Compliant Deposit (FCD) Date

2017-12-14

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