goal_integration___paper.pdf (9.28 MB)
Improving tracking through human-robot sensory augmentation
journal contribution
posted on 2023-06-07, 07:06 authored by Yanan LiYanan Li, Jonathan Eden, Gerolamo Carboni, Etienne BurdetThis paper introduces a sensory augmentation technique enabling a contact robot to understand its human user’s control in real-time and integrate their reference trajectory information into its own sensory feedback to improve its tracking performance. The human’s control is formulated as a feedback controller with unknown control gains and desired trajectory. An unscented Kalman ?lter is used to estimate ?rst the control gains and then the desired trajectory. The estimated human’s desired trajectory is used as augmented sensory information about the system and combined with the robot’s measurement to estimate a reference trajectory. Simulations and an implementation on a robotic interface demonstrate that the reactive control can robustly identify the human user’s control, and that the sensory augmentation improves the robot’s tracking performance.
Funding
The Game Theory of Human-Robot Interaction - HRIgame; G2929; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL
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Publication status
- Published
File Version
- Accepted version
Journal
IEEE Robotics and Automation LettersISSN
2377-3766Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2020-05-26First Open Access (FOA) Date
2020-06-02First Compliant Deposit (FCD) Date
2020-05-26Usage metrics
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