A Human-Robot Collaboration Controller Utilizing Confidence for Disagreement Adjustment
文献类型：期刊论文
| 作者 | Ma, Muyuan1,2; Cheng, Long1,2
|
| 刊名 | IEEE TRANSACTIONS ON ROBOTICS
 |
| 出版日期 | 2024 |
| 卷号 | 40页码:2081-2097 |
| 关键词 | Intention estimation physical human-robot interaction (pHRI) reinforcement learning |
| ISSN号 | 1552-3098 |
| DOI | 10.1109/TRO.2024.3370025 |
| 通讯作者 | Cheng, Long(long.cheng@ia.ac.cn) |
| 英文摘要 | With the development of collaborative robots, the demand for efficient and safe physical human-robot interaction (pHRI) is significantly increasing. In this article, a two-loop pHRI controller is proposed to reduce the disagreement in human-robot cooperation and to enhance the level of robot assistance. In the outer loop, a human motion intention estimator is designed, combining the strength of model-free and model-based approaches. It estimates the human's desired movement position and provides the confidence level for the estimated value. Subsequently, the estimated value is tracked by the inner loop controller, and the confidence level is used to adjust the robot's behavior in order to reduce the disagreement. In the inner loop, a neuro-adaptive controller with a variable reference model is designed to achieve the efficient pHRI. A neural network is applied to compensate for the nonlinearity of the robot dynamics, gradually aligning the input-output characteristic of the robot dynamic model with the one of the reference model. To minimize the human-robot disagreement during the collaboration process and to enhance the robot's assistance level, a reinforcement learning method is proposed to adjust parameters of the reference model. The proposed control scheme is implemented on a Franka Panda robot and validated through the point-to-point movement simulation and a real-world human-robot lifting experiment. Results suggest that compared to other methods, the proposed approach can indeed reduce the human-robot disagreement and improve the robot assistance level. |
| WOS关键词 | EXOSKELETON ; MODEL |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:001184889500010 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58105]  |
| 专题 | 多模态人工智能系统全国重点实验室_医疗机器人 |
| 通讯作者 | Cheng, Long |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Ma, Muyuan,Cheng, Long. A Human-Robot Collaboration Controller Utilizing Confidence for Disagreement Adjustment[J]. IEEE TRANSACTIONS ON ROBOTICS,2024,40:2081-2097. |
| APA | Ma, Muyuan,&Cheng, Long.(2024).A Human-Robot Collaboration Controller Utilizing Confidence for Disagreement Adjustment.IEEE TRANSACTIONS ON ROBOTICS,40,2081-2097. |
| MLA | Ma, Muyuan,et al."A Human-Robot Collaboration Controller Utilizing Confidence for Disagreement Adjustment".IEEE TRANSACTIONS ON ROBOTICS 40(2024):2081-2097. |
入库方式： OAI收割
来源：自动化研究所
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