基于矢量场在线更新的人和机器人身体交流控制

Control of Physical Human-Robot Interaction Based on Online Update of Vector Field

  • 摘要: 为实现人和机器人身体相互交流时的运动同步,提出基于矢量场在线更新的控制方法,并将此方法应用于人和机器人握手的研究中.首先,对该方法中任意吸引子的矢量场进行多项式近似设计,使其具备自振动特性;其次,通过在线更新设计,控制系统具有输入输出同步特性,并且可以通过调节系统中的忘却系数和负荷系数来改变其同步程度;最后,基于7自由度机器人臂,将该方法用于人和机器人握手实验中,结果表明了此方法的有效性.

     

    Abstract: In order to synchronize motion in physical human-robot interaction(pHRI),a control method based on online update of vector field is proposed and applied to the research on human-robot handshaking.Firstly,the polynomial expression approximation design is applied to endowing vector field of arbitrary attractor with self-oscillation characteristics.Secondly, input-output synchronization of the control system is realized by using online update design,and the degree of input-output synchronization can be modified by adjusting the oblivion parameter and load parameter in control system.Finally,the presented control method is used in human-robot handshaking experiment on a 7 DOF(degree of freedom)robot arm,and experimental results indicate the controller's validity.

     

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