Role adaptation of human and robot in collaborative tasks

Li, Yanan, Tee, Keng Peng, Chan, Wei Liang, Yan, Rui, Chua, Yuanwei and Limbu, Dilip Kumar (2015) Role adaptation of human and robot in collaborative tasks. 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 26-30 May 2015. Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA). 5602-5607. Institute of Electrical and Electronics Engineers ISSN 1050-4729 ISBN 9781479969234

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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 10:59
Last Modified: 15 Dec 2017 10:59
URI: http://sro.sussex.ac.uk/id/eprint/72081

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