Human-Robot Collaboration Based on Motion Intention Estimation

被引：236

作者：

Li, Yanan ^{[1
,2
]}

Ge, Shuzhi Sam ^{[1
,3
,4
,5
]}

机构：

[1] Natl Univ Singapore, Social Robot Lab, Interact Digital Media Inst, Singapore 119613, Singapore

[2] Natl Univ Singapore, NUS Grad Sch Integrat Sci & Engn, Singapore 119613, Singapore

[3] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 119613, Singapore

[4] Univ Elect Sci & Technol China, Inst Robot, Chengdu 610054, Peoples R China

[5] Univ Elect Sci & Technol China, Sch Comp Sci & Engn, Chengdu 610054, Peoples R China

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2014年 / 19卷 / 03期

关键词：

Human-robot collaboration; motion intention estimation; neural networks (NNs); IMPEDANCE CONTROL; CONTROL SCHEME; HUMAN ARM;

D O I：

10.1109/TMECH.2013.2264533

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, adaptive impedance control is proposed for a robot collaborating with a human partner, in the presence of unknown motion intention of the human partner and unknown robot dynamics. Human motion intention is defined as the desired trajectory in the limb model of the human partner, which is extremely difficult to obtain considering the nonlinear and time-varying property of the limb model. Neural networks are employed to cope with this problem, based on which an online estimation method is developed. The estimated motion intention is integrated into the developed adaptive impedance control, which makes the robot follow a given target impedance model. Under the proposed method, the robot is able to actively collaborate with its human partner, which is verified through experiment studies.

引用

页码：1007 / 1014

页数：8

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