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Shared control of human and robot by approximate dynamic programming
conference contribution
posted on 2023-06-09, 09:23 authored by Yanan LiYanan Li, Keng Peng Tee, Rui Yan, Dilip Kumar Limbu, Shuzhi Sam GeThis 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.
History
Publication status
- Published
File Version
- Accepted version
Journal
2015 American Control Conference (ACC)ISSN
0743-1619Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Page range
1167-1172Event name
American Control Conference (ACC)Event location
Chicago, IL, USAEvent type
conferenceEvent date
1-3 July 2015Book title
2015 American Control Conference (ACC)ISBN
9781479986842Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
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