Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 52, Issue 10, Pages 6211-6221Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2022.3143892
Keywords
Robots; Robot sensing systems; Force; Impedance; Dynamics; Uncertainty; Trajectory; Force control; human-robot interaction (HRI); motion control
Funding
- National Natural Science Foundation of China [U1934221, U21A20169]
- Sichuan Science and Technology Program [2021JDJQ0012, 2020YFQ0057]
- Royal Society [IES\R3\193136]
- U.K. EPSRC [EP/T006951/1]
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This article investigates human-driven robots through physical interaction, enhanced by integrating the human partner's motion intention. A human motor control model is used to estimate the human partner's motion intention. A system observer is developed to estimate the human's control input in this model, eliminating the need for force sensing. A robot controller is developed to incorporate the estimated human's motion intention, enabling the robot to proactively follow the human partner's movements.
This article investigates human-driven robots via physical interaction, which is enhanced by integrating the human partner's motion intention. A human motor control model is employed to estimate the human partner's motion intention. A system observer is developed to estimate the human's control input in this model, so that force sensing is not required. A robot controller is developed to incorporate the estimated human's motion intention, which makes the robot proactively follow the human partner's movements. Simulations and experiments on a physical robot are carried out to demonstrate the properties of our proposed controller.
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