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Differential game theory for versatile physical human-robot interaction

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journal contribution
posted on 2023-06-09, 16:36 authored by Yanan LiYanan Li, G Carboni, F Gonzalez, D Campolo, E Burdet
The last decades have seen a surge of robots working in contact with humans. However, until now these contact robots have made little use of the opportunities offered by physical interaction and lack a systematic methodology to produce versatile behaviours. Here, we develop an interactive robot controller able to understand the control strategy of the human user and react optimally to their movements. We demonstrate that combining an observer with a differential game theory controller can induce a stable interaction between the two partners, precisely identify each other’s control law, and allow them to successfully perform the task with minimum effort. Simulations and experiments with human subjects demonstrate these properties and illustrate how this controller can induce different representative interaction strategies.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

Nature Machine Intelligence

ISSN

2522-5839

Publisher

Nature Research

Volume

1

Page range

36-43

Department affiliated with

  • Engineering and Design Publications

Research groups affiliated with

  • Dynamics, Control and Vehicle Research Group Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2019-01-23

First Open Access (FOA) Date

2019-07-07

First Compliant Deposit (FCD) Date

2019-01-22

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