Shared control of human and robot by approximate dynamic programming

Shared control of human and robot by approximate dynamic programming
Title:
Shared control of human and robot by approximate dynamic programming
Other Titles:
2015 American Control Conference (ACC)
DOI:
10.1109/ACC.2015.7170891
Publication Date:
01 July 2015
Citation:
Y. Li, K. P. Tee, R. Yan, D. K. Limbu and S. S. Ge, "Shared control of human and robot by approximate dynamic programming," 2015 American Control Conference (ACC), Chicago, IL, 2015, pp. 1167-1172. doi: 10.1109/ACC.2015.7170891
Abstract:
In this paper, a framework of human-robot 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.
License type:
PublisherCopyrights
Funding Info:
SERC Grant No. 1225100001
Description:
(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.
ISSN:
0743-1619
2378-5861
ISBN:
978-1-4799-8684-2
978-1-4799-8685-9
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