期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 32, 期 6, 页码 1408-1418出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2016.2597322
关键词
Adaptive control; human-robot interaction; robot control
类别
资金
- Science and Engineering Research Council, A*STAR, Singapore [1225100001]
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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