A proactive controller for human-driven robots based on force/motion observer mechanisms

Li, Yanan, Yang, Lin, Huang, Deqing, Yang, Chenguang and Xia, Jingkang (2022) A proactive controller for human-driven robots based on force/motion observer mechanisms. IEEE Transactions on Systems, Man, and Cybernetics: Systems. pp. 1-11. ISSN 2168-2216

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Abstract

This article investigates human-driven robots via physical interaction, which is enhanced by integrating the human partner's motion intention. A human motor control model is employed to estimate the human partner's motion intention. A system observer is developed to estimate the human's control input in this model, so that force sensing is not required. A robot controller is developed to incorporate the estimated human's motion intention, which makes the robot proactively follow the human partner's movements. Simulations and experiments on a physical robot are carried out to demonstrate the properties of our proposed controller.

Item Type: Article
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 17 Jan 2022 08:49
Last Modified: 03 Mar 2022 13:16
URI: http://sro.sussex.ac.uk/id/eprint/103818

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Project NameSussex Project NumberFunderFunder Ref
Estimation of the human partner’s intention for human-robot collaborationUnsetROYAL SOCIETYIES\R3\193136
The Game Theory of Human-Robot Interaction - HRIgameG2929EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCILUnset