Differential game theory for versatile physical human-robot interaction

Li, Y, Carboni, G, Gonzalez, F, Campolo, D and Burdet, E (2019) Differential game theory for versatile physical human-robot interaction. Nature Machine Intelligence, 1. pp. 36-43. ISSN 2522-5839

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Abstract

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.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Research Centres and Groups: Dynamics, Control and Vehicle Research Group
Depositing User: Lucy Arnold
Date Deposited: 23 Jan 2019 09:45
Last Modified: 23 Jan 2019 09:45
URI: http://srodev.sussex.ac.uk/id/eprint/81419

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