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Differential game theory for versatile physical human-robot interaction
journal contribution
posted on 2023-06-09, 16:36 authored by Yanan LiYanan Li, G Carboni, F Gonzalez, D Campolo, E BurdetThe last decades have seen a surge of robots working in contact with humans. However, until now these contact robots have made little use of the opportunities offered by physical interaction and lack a systematic methodology to produce versatile behaviours. Here, we develop an interactive robot controller able to understand the control strategy of the human user and react optimally to their movements. We demonstrate that combining an observer with a differential game theory controller can induce a stable interaction between the two partners, precisely identify each other’s control law, and allow them to successfully perform the task with minimum effort. Simulations and experiments with human subjects demonstrate these properties and illustrate how this controller can induce different representative interaction strategies.
History
Publication status
- Published
File Version
- Accepted version
Journal
Nature Machine IntelligenceISSN
2522-5839Publisher
Nature ResearchExternal DOI
Volume
1Page range
36-43Department affiliated with
- Engineering and Design Publications
Research groups affiliated with
- Dynamics, Control and Vehicle Research Group Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2019-01-23First Open Access (FOA) Date
2019-07-07First Compliant Deposit (FCD) Date
2019-01-22Usage metrics
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