Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 32, Issue 6, Pages 1408-1418Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2597322
Keywords
Adaptive control; human-robot interaction; robot control
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Funding
- Science and Engineering Research Council, A*STAR, Singapore [1225100001]
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In this paper, we propose a framework to analyze the interactive behaviors of humans and robots in physical interactions. Game theory is employed to describe the system under study, and policy iteration is adopted to provide a solution of Nash equilibrium. The human's control objective is estimated based on the measured interaction force, and it is used to adapt the robot's objective such that human-robot coordination can be achieved. The validity of the proposed method is verified through a rigorous proof and experimental studies.
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