intention20may13.pdf (386.52 kB)
Human–robot collaboration based on motion intention estimation
In this paper, adaptive impedance control is proposed for a robot collaborating with a human partner, in the presence of unknown motion intention of the human partner and unknown robot dynamics. Human motion intention is defined as the desired trajectory in the limb model of the human partner, which is extremely difficult to obtain considering the nonlinear and time-varying property of the limb model. Neural networks are employed to cope with this problem, based on which an online estimation method is developed. The estimated motion intention is integrated into the developed adaptive impedance control, which makes the robot follow a given target impedance model. Under the proposed method, the robot is able to actively collaborate with its human partner, which is verified through experiment studies.
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE/ASME Transactions on MechatronicsISSN
1083-4435Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
3Volume
19Page range
1007-1014Department affiliated with
- Engineering and Design Publications
Notes
(c) 2013 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 worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-15Usage metrics
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