DocumentCode
728126
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
fYear
2015
fDate
1-3 July 2015
Firstpage
1167
Lastpage
1172
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2015
Conference_Location
Chicago, IL
Print_ISBN
978-1-4799-8685-9
Type
conf
DOI
10.1109/ACC.2015.7170891
Filename
7170891
Link To Document