THaptics_paper2_no_color.pdf (2.57 MB)
Flexible assimilation of human's target for versatile human-robot physical interaction
journal contribution
posted on 2023-06-09, 22:13 authored by Atsushi Takagi, Yanan LiYanan Li, Etienne BurdetRecent studies on the physical interaction between humans have revealed their ability to read the partner's motion plan and use it to improve one's own control. Inspired by these results, we develop an intention assimilation controller (IAC) that enables a contact robot to estimate the human's virtual target from the interaction force, and combine it with its own target to plan motion. While the virtual target depends on the control gains assumed for the human, we show that this does not affect the stability of the human-robot system, and our novel scheme covers a continuum of interaction behaviours from assistance to competition. Simulations and experiments illustrate how the IAC can assist the human or compete with them to prevent collisions. We demonstrate the IAC's advantages over related methods, such as faster convergence to a target, guidance with less force, safer obstacle avoidance and a wider range of interaction behaviours.
Funding
The Game Theory of Human-Robot Interaction - HRIgame; G2929; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on HapticsISSN
1939-1412Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Issue
2Volume
14Page range
421-431Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2020-11-19First Open Access (FOA) Date
2020-11-24First Compliant Deposit (FCD) Date
2020-11-18Usage metrics
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