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Shared control of human and robot by approximate dynamic programming

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conference contribution
posted on 2023-06-09, 09:23 authored by Yanan LiYanan Li, Keng Peng Tee, Rui Yan, Dilip Kumar Limbu, Shuzhi Sam Ge
This paper aims at proposing a general framework of human-robot shared control for a natural and effective interface. A typical human-robot collaboration scenario is investigated, and a framework of 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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

2015 American Control Conference (ACC)

ISSN

0743-1619

Publisher

Institute of Electrical and Electronics Engineers

Page range

1167-1172

Event name

American Control Conference (ACC)

Event location

Chicago, IL, USA

Event type

conference

Event date

1-3 July 2015

Book title

2015 American Control Conference (ACC)

ISBN

9781479986842

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2017-12-15

First Open Access (FOA) Date

2017-12-15

First Compliant Deposit (FCD) Date

2017-12-14

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