Shared control of human and robot by approximate dynamic programming

Li, Yanan, Tee, Keng Peng, Yan, Rui, Limbu, Dilip Kumar and Ge, Shuzhi Sam (2015) Shared control of human and robot by approximate dynamic programming. American Control Conference (ACC), Chicago, IL, USA, 1-3 July 2015. Published in: 2015 American Control Conference (ACC). 1167-1172. Institute of Electrical and Electronics Engineers ISSN 0743-1619 ISBN 9781479986842

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This paper aims at proposing a general framework of human-robot shared control for a natural and effective interface. A typical human-robot collaboration scenario is investigated, and a framework of shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics. The validity of the proposed method is verified through simulation studies.

Item Type: Conference Proceedings
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Yanan Li
Date Deposited: 15 Dec 2017 10:47
Last Modified: 15 Dec 2017 10:47

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