Title :
Control for physical human-robot interaction based on online update of dynamics
Author :
Xie, Guanghui ; Jin, Mina ; Wu, Deming ; Hashimoto, Minoru
Author_Institution :
Dept. of Mech. & Electr. Eng., Chongqing Coll. of Electron. Eng., Chongqing, China
Abstract :
In order to realize the synchronization of motions, a controller based on online update design of dynamics is proposed for the control of physical human-robot interaction(pHRI) in this paper. Firstly, by using polynomial expression approximation design, dynamics system with arbitrary attractor in controller can have the self-oscillation characteristic. Secondly, by using online update design, dynamics system can have synchronization characteristic for in-out signal. And the degree of synchronization can be adjusted with oblivion parameter and weighted parameter in dynamics. Finally, based on 7 DOF robot arm, experiment is implemented for human-robot handshaking by using this controller, and experimental results indicate the controller´s validity.
Keywords :
approximation theory; control system synthesis; human-robot interaction; motion control; polynomials; robot dynamics; 7 DOF robot arm; controller; dynamics system; human-robot handshaking; motion synchronization; online update design; pHRI; physical human-robot interaction; polynomial expression approximation; self-oscillation characteristic; Dynamics; Elbow; Humans; Joints; Robots; Synchronization; Torque; attractor; handshaking robot; oblivion parameter; online update of dynamics; weighted parameter;
Conference_Titel :
Computer Science and Automation Engineering (CSAE), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-8727-1
DOI :
10.1109/CSAE.2011.5952470
