Intention based Control for Physical Human-robot Interaction

Physical human-robot interaction allows human and robots to perform collaborative tasks based on the strengths of both human and robots. During interaction, robots are required to react and adapt to human's intentions so that human can take control to guide robots when necessary. In this paper, we propose a control method which can operate in either robot control mode or human control mode according to human's intentions. Two types of human control modes are considered including shared control mode where human and robots share the active role to perform a task and full control mode where human take full control to complete a task. The stability of the human-robot interaction control system with physical contact is shown by using Lyapunov-like analysis. Experimental results are presented to illustrate the performance of the proposed control system.