Role adaptation of human and robot in collaborative tasks

In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full...

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Bibliographic Details
Main Authors: Yanan Li, Keng Peng Tee, Wei Liang Chan, Rui Yan, Yuanwei Chua, Limbu, Dilip Kumar
Format: Conference Proceeding
Language:English
Subjects:
Cost function
Force
Impedance
Robot kinematics
Robot sensing systems
Trajectory
Online Access:Request full text
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Summary:In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full control of the system when there is no human intervention. In the other boundary condition, it becomes a follower when the human exhibits strong intention to lead the task. Experimental results show that the proposed method yields better overall performance than fixed-role interactions.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2015.7139983