{"title":"基于动态在线更新的人机物理交互控制","authors":"Guanghui Xie, M. Jin, Deming Wu, M. Hashimoto","doi":"10.1109/CSAE.2011.5952470","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":138215,"journal":{"name":"2011 IEEE International Conference on Computer Science and Automation Engineering","volume":"64 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Control for physical human-robot interaction based on online update of dynamics\",\"authors\":\"Guanghui Xie, M. Jin, Deming Wu, M. Hashimoto\",\"doi\":\"10.1109/CSAE.2011.5952470\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":138215,\"journal\":{\"name\":\"2011 IEEE International Conference on Computer Science and Automation Engineering\",\"volume\":\"64 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-06-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2011 IEEE International Conference on Computer Science and Automation Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CSAE.2011.5952470\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE International Conference on Computer Science and Automation Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CSAE.2011.5952470","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control for physical human-robot interaction based on online update of dynamics
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.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
