A framework of human–robot coordination based on game theory and policy iteration

Li, Yanan, Tee, Keng Peng, Yan, Rui, Chan, Wei Liang and Wu, Yan (2016) A framework of human–robot coordination based on game theory and policy iteration. IEEE Transactions on Robotics, 32 (6). pp. 1408-1418. ISSN 1552-3098

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In 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.

Item Type: Article
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 14 Dec 2017 16:57
Last Modified: 02 Jul 2019 13:17
URI: http://sro.sussex.ac.uk/id/eprint/72069

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