Control of bidirectional physical human–robot interaction based on the human intention

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• 作者：Paulo Leica ; Flavio Roberti ; Matías Monllor…
• 关键词：Robotic ; Human–robot interaction ; Bidirectional interaction ; Impedance ; Lyapunov
• 刊名：Intelligent Service Robotics
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：10
• 期：1
• 页码：31-40
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics; Artificial Intelligence (incl. Robotics); User Interfaces and Human Computer Interaction; Vibration, Dynamical Systems, Control; Robotics and Automation;
• 出版者：Springer Berlin Heidelberg
• ISSN：1861-2784
• 卷排序：10

文摘

This paper presents a control strategy for human–robot interaction with physical contact, recognizing the human intention to control the movement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired force direction to guide the robot through unstructured environments. Robot dynamics is included to improve the interaction performance. Stability analysis of the proposed control system is proved by using Lyapunov theory. Real experiments of the human–robot interaction show the performance of the proposed controllers.