Dual Loop Compliant Control Based on Human Prediction for Physical Human-Robot Interaction

Kelin Li, Ruishuang Chen, Thanana Nuchkrua, Sudchai Boonto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In physical human-robot interaction (HRI), human partner's operating force and the performance of the HRI process are the two main criterions. Lower operating force and higher tracking accuracy are demanded during physical HRI. In order to achieve such two goals, we propose a dual loop force assist framework for HRI. In this framework, it includes an outer force loop and an inner position loop. In the outer loop, a model reference adaptive control (MRAC) based compensation method is proposed to assist a human operator to interact with robot. The compensation works as an assist force to minimize the error between human desired position and a robot actual position. Besides, a Sparse Bayesian learning (SBL) based human intention predictor is also proposed to predict the future human desired position, thus the MRAC based compensation can work on-line. For the inner loop, the compensated force is used as the input of prescribed impedance, which gives compliance to the robot. Then, the Cartesian drive torque for a n-DOF robot manipulator has been analyzed and a Proportional + Derivative (PD) based controller with gravity compensation is adopted to generate the drive torque. So that the robot can track the output of prescribed impedance accurately. The effectiveness of the proposed framework is verified by simulation study.

Original languageEnglish
Title of host publication2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages459-464
Number of pages6
ISBN (Electronic)9784907764678
DOIs
StatePublished - Sep 2019
Externally publishedYes
Event58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019 - Hiroshima, Japan
Duration: 10 Sep 201913 Sep 2019

Publication series

Name2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019

Conference

Conference58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019
CountryJapan
CityHiroshima
Period10/09/1913/09/19

Keywords

  • Compliant control
  • Dual loop
  • Human prediction
  • Human-robot interaction
  • Impedance

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