| Control for physical human-robot interaction based on online update of dynamics | |
Xie, Guanghui1 ; Jin, Mina1; Wu, Deming1; Hashimoto, Minoru2
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| 2011 | |
| 会议录名称 | Proceedings - 2011 IEEE International Conference on Computer Science and Automation Engineering, CSAE 2011
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| 卷号 | 2 |
| 页码 | 280-284 |
| 出版者 | IEEE Computer Society |
| 摘要 | 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. © 2011 IEEE. |
| 关键词 | Controllers Dynamics Machine design Man machine systems Polynomial approximation Synchronization attractor oblivion parameter On-line updates Physical human-robot interactions Physical humanrobot interaction (phri) Polynomial expression Self-oscillations weighted parameter |
| DOI | 10.1109/CSAE.2011.5952470 |
| 收录类别 | EI |
| 语种 | 英语 |
| EI入藏号 | 20113414258586 |
| 原始文献类型 | Conference article (CA) |
| 文献类型 | 会议论文 |
| 条目标识符 | https://ir.cqcet.edu.cn/handle/39TD4454/3283 |
| 专题 | 智慧健康学院 财务处 智能制造与汽车学院 |
| 作者单位 | 1.Department of Mechanical and Electrical Engineering, Chongqing College of Electronic Engineering, Chongqing 401331, China; 2.Department of KANSEI Engineering, Shinshu University, 3-15-1 Tokida, Ueda, Nagao 386-8567, Japan |
| 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,Jin, Mina,Wu, Deming,et al. Control for physical human-robot interaction based on online update of dynamics[C]:IEEE Computer Society,2011:280-284. |
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