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A proactive controller for human-driven robots based on force/motion observer mechanisms
journal contribution
posted on 2023-06-10, 02:16 authored by Yanan LiYanan Li, Lin Yang, Deqing Huang, Chenguang Yang, Jingkang XiaThis article investigates human-driven robots via physical interaction, which is enhanced by integrating the human partner's motion intention. A human motor control model is employed to estimate the human partner's motion intention. A system observer is developed to estimate the human's control input in this model, so that force sensing is not required. A robot controller is developed to incorporate the estimated human's motion intention, which makes the robot proactively follow the human partner's movements. Simulations and experiments on a physical robot are carried out to demonstrate the properties of our proposed controller.
Funding
The Game Theory of Human-Robot Interaction - HRIgame; G2929; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL
Estimation of the human partner’s intention for human-robot collaboration; ROYAL SOCIETY; IES\R3\193136
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Systems, Man, and Cybernetics: SystemsISSN
2168-2216Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Page range
1-11Department affiliated with
- Engineering and Design Publications
Notes
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2022-01-17First Open Access (FOA) Date
2022-01-17First Compliant Deposit (FCD) Date
2022-01-14Usage metrics
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