DocumentCode :
227144
Title :
Fuzzy-based adaptive motion control of a virtual iCub robot in human-robot-interaction
Author :
Zejun Xu ; Chenguang Yang ; Hongbin Ma ; Menyin Fu
Author_Institution :
State Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China
fYear :
2014
fDate :
6-11 July 2014
Firstpage :
1463
Lastpage :
1468
Abstract :
In this paper, in order to combine intelligence of human operator and automatic function of the robot, we design a control scheme for the bimanual robot manipulation, in which the leading robot arm is directly manipulated by a human operator through a haptic device and the following robot arm will automatically adjust its motion to match the operator´s motion. In this paper, we propose a fuzzy-based adaptive feedforward compensation controller and apply it into the robot control. According to the comparison results in the simulated experiment, we conclude that the fuzzy-adaptive controller performs better than the non-fuzzy controller, although they can both complete the specified task by tracking the leading robot arm controlled by the human operator. The techniques developed in this paper could be very useful for our future study on adaptation in human-robot interaction in improving the reliability, safety and intelligence.
Keywords :
adaptive control; compensation; control system synthesis; dexterous manipulators; feedforward; fuzzy control; haptic interfaces; human-robot interaction; intelligent robots; manipulator dynamics; manipulator kinematics; motion control; automatic robot function; bimanual robot manipulation; control scheme design; following robot arm; fuzzy-based adaptive feedforward compensation controller; fuzzy-based adaptive motion control; haptic device; human operator intelligence; human-robot-interaction; intelligence improvement; leading robot arm manipulation; operator motion; reliability improvement; safety improvement; virtual iCub robot control; Joints; Kinematics; Manipulator dynamics; Mathematical model; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Fuzzy Systems (FUZZ-IEEE), 2014 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-2073-0
Type :
conf
DOI :
10.1109/FUZZ-IEEE.2014.6891886
Filename :
6891886
Link To Document :
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