Variable Admittance Human-Robot Collaborative Control Based on Motion Intention Prediction

Hao Wang, Hongjian Yu, Zhijiang Du, Rongqiang Liu

2023

Abstract

This paper proposes a variable compliance control method for human-robot collaborative tasks. When the operator is towing the robot for collaborative motion, the motion trajectory of the operator’s arm is unknown. In order to meet the different motion control needs of the robot in each stage of motion, a motion intention prediction strategy for the operator is designed, and the admittance controller is adjusted through fuzzy reasoning. The experimental results show that this method can effectively improve the controllability and adaptability of the robot in the process of compliant control.

Paper Citation

in Harvard Style

Wang H., Yu H., Du Z. and Liu R. (2023). Variable Admittance Human-Robot Collaborative Control Based on Motion Intention Prediction. In Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT; ISBN 978-989-758-677-4, SciTePress, pages 80-85. DOI: 10.5220/0012274400003807

in Bibtex Style

@conference{anit23,
author={Hao Wang and Hongjian Yu and Zhijiang Du and Rongqiang Liu},
title={Variable Admittance Human-Robot Collaborative Control Based on Motion Intention Prediction},
booktitle={Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT},
year={2023},
pages={80-85},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012274400003807},
isbn={978-989-758-677-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Seminar on Artificial Intelligence, Networking and Information Technology - Volume 1: ANIT
TI - Variable Admittance Human-Robot Collaborative Control Based on Motion Intention Prediction
SN - 978-989-758-677-4
AU - Wang H.
AU - Yu H.
AU - Du Z.
AU - Liu R.
PY - 2023
SP - 80
EP - 85
DO - 10.5220/0012274400003807
PB - SciTePress