Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning
文献类型：期刊论文
| 作者 | Yongliang Yang; Zihao Ding; Rui Wang ; Hamidreza Modares; Donald C. Wunsch
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| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2022 |
| 卷号 | 9期号:1页码:47-63 |
| 关键词 | Adaptive impedance control data-driven method human-robot interaction (HRI) reinforcement learning velocity-free |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2021.1004258 |
| 英文摘要 | In this paper, we present a novel data-driven design method for the human-robot interaction (HRI) system, where a given task is achieved by cooperation between the human and the robot. The presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller design. The task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop, while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the inner-loop. Data-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance parameters. In the inner-loop, a velocity-free filter is designed to avoid the requirement of end-effector velocity measurement. On this basis, an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task space. The simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45973]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Yongliang Yang,Zihao Ding,Rui Wang,et al. Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):47-63. |
| APA | Yongliang Yang,Zihao Ding,Rui Wang,Hamidreza Modares,&Donald C. Wunsch.(2022).Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,9(1),47-63. |
| MLA | Yongliang Yang,et al."Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 9.1(2022):47-63. |
入库方式： OAI收割
来源：自动化研究所
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