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Adaptive optimal control for coordination in physical human-robot interaction

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conference contribution
posted on 2023-06-09, 09:23 authored by Yanan LiYanan Li, Keng Peng Tee, Rui Yan, Wei Liang Chan, Yan Wu, Dilip Kumar Limbu
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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Publisher

Institute of Electrical and Electronics Engineers

Page range

20-25

Event name

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Event location

Hamburg, Germany

Event type

conference

Event date

28 September - 2 October 2015

Book title

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

9781479999941

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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