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Bayesian estimation of human impedance and motion intention for human-robot collaboration
journal contribution
posted on 2023-06-09, 18:46 authored by Xinbo Yu, Wei He, Yanan LiYanan Li, Chengqian Xue, Jianqiang Li, Jianxiao Zou, Chenguang YangThis article proposes a Bayesian method to acquire the estimation of human impedance and motion intention in a human-robot collaborative task. Combining with the prior knowledge of human stiffness, estimated stiffness obeying Gaussian distribution is obtained by Bayesian estimation, and human motion intention can be also estimated. An adaptive impedance control strategy is employed to track a target impedance model and neural networks are used to compensate for uncertainties in robotic dynamics. Comparative simulation results are carried out to verify the effectiveness of estimation method and emphasize the advantages of the proposed control strategy. The experiment, performed on Baxter robot platform, illustrates a good system performance.
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Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on CyberneticsISSN
2168-2267Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
4Volume
51Page range
1822-1834Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2019-08-27First Open Access (FOA) Date
2019-08-27First Compliant Deposit (FCD) Date
2019-08-27Usage metrics
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