Improving Tracking through Human-Robot Sensory Augmentation

被引：15

作者：

Li, Yanan ^{[1
,2
]}

Eden, Jonathan ^{[1
]}

Carboni, Gerolamo ^{[1
]}

Burdet, Etienne ^{[1
]}

机构：

[1] Imperial Coll Sci Technol & Med, Dept Bioengn, London SW7 2AZ, England

[2] Univ Sussex, Dept Engn & Informat, Brighton BN1 9RH, E Sussex, England

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 03期

基金：

欧盟地平线“2020”; 英国工程与自然科学研究理事会;

关键词：

Cooperating robots; human-centered robotics; physical human-robot interaction;

D O I：

10.1109/LRA.2020.2998715

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This letter introduces a sensory augmentation technique enabling a contact robot to understand its human user's control in real-time and integrate their reference trajectory information into its own sensory feedback to improve the tracking performance. The human's control is formulated as a feedback controller with unknown control gains and desired trajectory. An unscented Kalman filter is used to estimate first the control gains and then the desired trajectory. The estimated human's desired trajectory is used as augmented sensory information about the system and combined with the robot's measurement to estimate a reference trajectory. Simulations and an implementation on a robotic interface demonstrate that the reactive control can robustly identify the human user's control, and that the sensory augmentation improves the robot's tracking performance.

引用

页码：4399 / 4406

页数：8

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