role13feb15-icra.pdf (234.48 kB)
Adaptive optimal control for coordination in physical human-robot interaction
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 LimbuIn 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 EngineersExternal DOI
Page range
20-25Event name
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Event location
Hamburg, GermanyEvent type
conferenceEvent date
28 September - 2 October 2015Book title
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)ISBN
9781479999941Department 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
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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