| Control of physical human-robot interaction based on online update of vector field | |
Xie, Guanghui1,2,3 ; Liang, Xichang1; Hashimoto, Minoru2; Lü, Hongzhan1
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| 2009-09-01 | |
| 发表期刊 | Jiqiren/Robot
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| ISSN | 1002-0446 |
| 卷号 | 31期号:5页码:421-426 |
| 摘要 | 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. |
| 关键词 | Control systems Degrees of freedom (mechanics) Man machine systems Motion control Polynomial approximation Attractor DOF (degree of Freedom) Load parameters Oblivion parameter On-line updates Physical human-robot interactions Physical humanrobot interaction (phri) Polynomial expression |
| 收录类别 | EI |
| 语种 | 中文 |
| 出版者 | Chinese Academy of Sciences |
| EI入藏号 | 20094512421146 |
| EI分类号 | 731 Automatic Control Principles and Applications ; 921.6 Numerical Methods ; 931.1 Mechanics |
| 原始文献类型 | Journal article (JA) |
| 文献类型 | 期刊论文 |
| 条目标识符 | https://ir.cqcet.edu.cn/handle/39TD4454/2896 |
| 专题 | 智慧健康学院 |
| 作者单位 | 1.State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, China; 2.Shinshu University, Nagano 386-8567, Japan; 3.Chongqing College of Electronic Engineering, Chongqing 401331, China |
| 第一作者单位 | 重庆电子科技职业大学 |
| 推荐引用方式 GB/T 7714 | Xie, Guanghui,Liang, Xichang,Hashimoto, Minoru,et al. Control of physical human-robot interaction based on online update of vector field[J]. Jiqiren/Robot,2009,31(5):421-426. |
| APA | Xie, Guanghui,Liang, Xichang,Hashimoto, Minoru,&Lü, Hongzhan.(2009).Control of physical human-robot interaction based on online update of vector field.Jiqiren/Robot,31(5),421-426. |
| MLA | Xie, Guanghui,et al."Control of physical human-robot interaction based on online update of vector field".Jiqiren/Robot 31.5(2009):421-426. |
| 条目包含的文件 | 条目无相关文件。 | |||||
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