Compliance Control Based on Particle Swarm Optimization Approach for Physical Human-Robot Interaction
文献类型：会议论文
| 作者 | Zhongliang Jiang; Yu Sun; Long Lei; Ying Hu; Chenyu Xiao; Jianwei Zhang |
| 出版日期 | 2016 |
| 会议名称 | IEEE RCAR-2016 |
| 会议地点 | 柬埔寨 |
| 英文摘要 | Robots play more important roles in daily life and bring us a lot of convenience. Somebody may need to cooperate with robots to complete some specific tasks. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We hope that the robot can following the hand of human who act force on the robot. We design a controller which can sense the force acting on any point of the robot and responds indirectly to the force. In addition, a novel design method used to determine the optimal controller parameters of the physical model using the Particle Swarm Optimization (PSO) algorithm is presented. Ultimately, we have carried out experiments on the Spinal Surgery System Robotic (RSSS II), which is developed by our team. The result shows that the new controller performs better in the process of human-robot interaction |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10052]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Zhongliang Jiang,Yu Sun,Long Lei,et al. Compliance Control Based on Particle Swarm Optimization Approach for Physical Human-Robot Interaction[C]. 见:IEEE RCAR-2016. 柬埔寨. |
入库方式： OAI收割
来源：深圳先进技术研究院
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