Role adaptation of human and robot in collaborative tasks
Role adaptation of human and robot in collaborative tasks
复制标题
人与机器人在协作任务中的角色适应
DOI：
10.1109/icra.2015.7139983
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
D. Limbu
中科院分区：
文献类型：
--
作者：
Yanan Li;K. P. Tee;W. L. Chan;Rui Yan;Yuanwei Chua;D. Limbu
本文提出了一种基于博弈论的人机协作角色自适应方法。每当交互力发生变化时，这种角色适应就会发生，从而导致人与机器人之间的控制共享比例发生变化。在一个边界条件下，机器人在没有人为干预的情况下完全控制系统。在另一个边界条件下，当人类表现出强烈的领导任务的意图时，它成为一个追随者。实验结果表明，该方法产生更好的整体性能比固定角色的相互作用。
In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full control of the system when there is no human intervention. In the other boundary condition, it becomes a follower when the human exhibits strong intention to lead the task. Experimental results show that the proposed method yields better overall performance than fixed-role interactions.