Title :
Shared control of human and robot by approximate dynamic programming
Author :
Yanan Li ; Keng Peng Tee ; Rui Yan ; Limbu, Dilip Kumar ; Shuzhi Sam Ge
Author_Institution :
Inst. for Infocomm Res. (I2R), Agency for Sci., Technol. & Res. (A*STAR), Singapore, Singapore
Abstract :
In this paper, a framework of human-robot shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics. The validity of the proposed method is verified through simulation studies.
Keywords :
approximation theory; dynamic programming; human-robot interaction; robot dynamics; approximate dynamic programming; coupled human-robot system; human dynamics; human-robot shared control; optimization problem; robot dynamics; Cost function; Dynamic programming; Force; Robot kinematics; Robot sensing systems; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170891
