Adaptive-Constrained Impedance Control for Human-Robot Co-Transportation

• Published in: IEEE transactions on cybernetics Vol. 52; no. 12; pp. 13237 - 13249
• Main Authors: Yu, Xinbo, Li, Bin, He, Wei, Feng, Yanghe, Cheng, Long, Silvestre, Carlos
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.12.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive algorithms; Adaptive control; Collaboration; Constraints; Control algorithms; Control theory; Controllers; End effectors; Error constraint; Force; Human motion; human–robot co-transportation; Impedance; Initial conditions; input constraint; Interaction models; neural networks (NNs); Nonlinear control; Position measurement; Robot control; Robot dynamics; Robot sensing systems; Robots; Sensors; Task analysis; Task space; Transportation; vision and force sensing

Human-robot co-transportation allows for a human and a robot to perform an object transportation task cooperatively on a shared environment. This range of applications raises a great number of theoretical and practical challenges arising mainly from the unknown human-robot interaction model as well...