Dynamic Movement Primitives for Human-Robot interaction: Comparison with human behavioral observation
Dynamic Movement Primitives for Human-Robot interaction: Comparison with human behavioral observation
复制标题
人机交互的动态运动原语：与人类行为观察的比较
DOI：
10.1109/iros.2013.6696498
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
S. Endo
中科院分区：
文献类型：
--
作者：
Miguel Prada;Anthony Remazeilles;A. Koene;S. Endo
本文介绍了目前的状态，正在进行的工作中的人机交互，两个合作伙伴在一个对象的交接互动。操纵器控制基于动态运动基元模型，专用于对象移交上下文。所提出的修改使更精细的控制的动态的控制器，以使其与人类的控制策略，其中的前馈和反馈部分的控制的贡献是不同的原始的控制器配方。此外，所提出的方案处理移动目标。有了这两个修改，该模型不再需要一个明确的估计的交换位置，它可以产生纯粹的运动反应的瞬时位置的人手。控制系统的质量进行评估，通过广泛的比较与地面实况数据有关的对象之间的相互作用，在欧洲项目CogLaboration，设想在工业环境中的应用程序的背景下获得的两个人。
This article presents the current state of an ongoing work on Human-Robot interaction in which two partners collaborate during an object hand-over interaction. The manipulator control is based on the Dynamic Movement Primitives model, specialized for the object hand-over context. The proposed modifications enable finer control of the dynamic of the DMP to align it to human control strategies, where the contributions of the feedforward and feedback parts of the control are different to the original DMP formulation. Furthermore, the proposed scheme handles moving goals. With these two modifications, the model no longer requires an explicit estimation of the exchange position and it can generate motion purely reactively to the instantaneous position of the human hand. The quality of the control system is evaluated through an extensive comparison with ground truth data related to the object interaction between two humans acquired in the context of the European project CogLaboration which envisages an application in an industrial setting.