Shared Control of Human and Robot by Approximate Dynamic Programming

被引：0
|
作者：
Li, Yanan [1 ]
Tee, Keng Peng [1 ]
Yan, Rui [1 ]
Limbu, Dilip Kumar [1 ]
Ge, Shuzhi Sam [2 ,3 ]
机构：
[1] ASTAR, I2R, Singapore 138632, Singapore
[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
[3] Natl Univ Singapore, Social Robot Lab, Interact Digital Media Inst, Singapore 117576, Singapore
来源：
2015 AMERICAN CONTROL CONFERENCE (ACC) | 2015年
关键词：
D O I：
暂无
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, a framework of human-robot shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics. The validity of the proposed method is verified through simulation studies.
引用
收藏
页码：1167 / 1172
页数：6
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