Title :
Real-time trajectory/profile learning for robots in human-robot interactions
Author :
Luh, J.Y.S. ; Hu, Shuyi
Author_Institution :
Clemson Univ., SC, USA
Abstract :
In the process of human-robot interaction, effective representation and real-time learning of manipulator´s trajectory/profile in response to human´s motion are presented. Method of obtaining approximate solutions during the learning stage are introduced to circumvent the noise effect caused by numerical inaccuracy and computational errors. Perturbed solutions are derived as an alternative approach to overcome the noise effect. Simulation examples are given to illustrate every stage of the presentation
Keywords :
compliance control; cooperative systems; interactive systems; learning systems; man-machine systems; position control; real-time systems; telerobotics; compliance control; cooperative task; human-robot interactions; manipulator; position control; profile learning; real-time systems; trajectory learning; Automobiles; Automotive components; Computational modeling; Geometry; Human robot interaction; Manipulators; Robot kinematics; Robotic assembly;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620148
