Adaptive optimal control for coordination in physical human-robot interaction

Adaptive optimal control for coordination in physical human-robot interaction

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

10.1109/IROS.2015.7353109

http://dx.doi.org/10.1109/IROS.2015.7353109

Yanan Li, Keng Peng Tee, Rui Yan, Wei Liang Chan, Yan Wu, Dilip Kumar Limbu

28 September 2015

Y. Li, K. P. Tee, R. Yan, W. L. Chan, Y. Wu and D. K. Limbu, "Adaptive optimal control for coordination in physical human-robot interaction," Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, 2015, pp. 20-25. doi: 10.1109/IROS.2015.7353109

In this paper, we propose an adaptive optimal control for a robot to collaborate with a human. Game theory and policy iteration are employed to analyze the interactive behaviors of the human and the robot in physical interactions. The human's control objective is estimated and it is used to adapt the robot's own objective, such that human-robot coordination can be achieved. An optimal control is developed to guarantee that the robot's control objective is realized. The validity of the proposed method is verified through rigorous analysis and experiment studies.

PublisherCopyrights

(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, 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 components of this work in other works.

https://oar.a-star.edu.sg/communities-collections/articles/12857

978-1-4799-9993-4

978-1-4799-9994-1

Institute for Infocomm Research