Flexible Assimilation of Human's Target for Versatile Human-Robot Physical Interaction
Recent studies on the physical interaction between humans have revealed their ability to read the partner's motion plan and use it to improve one's own control. Inspired by these results, we develop an intention assimilation controller (IAC) that enables a contact robot to estimate the human's virtual target from the interaction force, and combine it with its own target to plan motion. While the virtual target depends on the control gains assumed for the human, we show that this does not affect the stability of the human-robot system, and our novel scheme covers a continuum of interaction behaviours from cooperation to competition. Simulations and experiments illustrate how the IAC can assist the human or compete with them to prevent collisions. In this article, we demonstrate the IAC's advantages over related methods, such as faster convergence to a target, guidance with less force, safer obstacle avoidance and a wider range of interaction behaviours.
| Medienart: |
E-Artikel |
|---|
| Erscheinungsjahr: |
2021 |
|---|---|
| Erschienen: |
2021 |
| Enthalten in: |
Zur Gesamtaufnahme - volume:14 |
|---|---|
| Enthalten in: |
IEEE transactions on haptics - 14(2021), 2 vom: 02. Apr., Seite 421-431 |
| Sprache: |
Englisch |
|---|
| Beteiligte Personen: |
Takagi, Atsushi [VerfasserIn] |
|---|
| Links: |
|---|
| Themen: |
|---|
| Anmerkungen: |
Date Completed 25.10.2021 Date Revised 25.10.2021 published: Print-Electronic Citation Status MEDLINE |
|---|
| doi: |
10.1109/TOH.2020.3039725 |
|---|
| funding: |
|
|---|---|
| Förderinstitution / Projekttitel: |
|
| PPN (Katalog-ID): |
NLM317939033 |
|---|
| LEADER | 01000naa a22002652 4500 | ||
|---|---|---|---|
| 001 | NLM317939033 | ||
| 003 | DE-627 | ||
| 005 | 20231225164318.0 | ||
| 007 | cr uuu---uuuuu | ||
| 008 | 231225s2021 xx |||||o 00| ||eng c | ||
| 024 | 7 | |a 10.1109/TOH.2020.3039725 |2 doi | |
| 028 | 5 | 2 | |a pubmed24n1059.xml |
| 035 | |a (DE-627)NLM317939033 | ||
| 035 | |a (NLM)33226954 | ||
| 040 | |a DE-627 |b ger |c DE-627 |e rakwb | ||
| 041 | |a eng | ||
| 100 | 1 | |a Takagi, Atsushi |e verfasserin |4 aut | |
| 245 | 1 | 0 | |a Flexible Assimilation of Human's Target for Versatile Human-Robot Physical Interaction |
| 264 | 1 | |c 2021 | |
| 336 | |a Text |b txt |2 rdacontent | ||
| 337 | |a ƒaComputermedien |b c |2 rdamedia | ||
| 338 | |a ƒa Online-Ressource |b cr |2 rdacarrier | ||
| 500 | |a Date Completed 25.10.2021 | ||
| 500 | |a Date Revised 25.10.2021 | ||
| 500 | |a published: Print-Electronic | ||
| 500 | |a Citation Status MEDLINE | ||
| 520 | |a Recent studies on the physical interaction between humans have revealed their ability to read the partner's motion plan and use it to improve one's own control. Inspired by these results, we develop an intention assimilation controller (IAC) that enables a contact robot to estimate the human's virtual target from the interaction force, and combine it with its own target to plan motion. While the virtual target depends on the control gains assumed for the human, we show that this does not affect the stability of the human-robot system, and our novel scheme covers a continuum of interaction behaviours from cooperation to competition. Simulations and experiments illustrate how the IAC can assist the human or compete with them to prevent collisions. In this article, we demonstrate the IAC's advantages over related methods, such as faster convergence to a target, guidance with less force, safer obstacle avoidance and a wider range of interaction behaviours | ||
| 650 | 4 | |a Journal Article | |
| 650 | 4 | |a Research Support, Non-U.S. Gov't | |
| 700 | 1 | |a Li, Yanan |e verfasserin |4 aut | |
| 700 | 1 | |a Burdet, Etienne |e verfasserin |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t IEEE transactions on haptics |d 2008 |g 14(2021), 2 vom: 02. Apr., Seite 421-431 |w (DE-627)NLM185552293 |x 2329-4051 |7 nnns |
| 773 | 1 | 8 | |g volume:14 |g year:2021 |g number:2 |g day:02 |g month:04 |g pages:421-431 |
| 856 | 4 | 0 | |u http://dx.doi.org/10.1109/TOH.2020.3039725 |3 Volltext |
| 912 | |a GBV_USEFLAG_A | ||
| 912 | |a GBV_NLM | ||
| 951 | |a AR | ||
| 952 | |d 14 |j 2021 |e 2 |b 02 |c 04 |h 421-431 | ||