Sparse Bayesian Learning-Based Adaptive Impedance Control in Physical Human-Robot Interaction

Kelin Li, Huan Zhao, Thanana Nuchkrua, Ye Yuan, Han Ding

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

3 Scopus citations

Abstract

For the sake of reducing human partner's effort (operating force and time) in human-robot interaction (HRI), it is of significant importance for robot to modify its impedance parameters dynamically based on human intention. Thus, in this paper, a data-driven adaptive impedance control (AIC) scheme is proposed, including a Sparse Bayesian learning-based (SBL) human intention predictor (HIP) and a variable impedance controller (VIC). And it works as follows: First, HIP is proposed to predict human partner's future intention by using necessary time-series data. Then, the predicted intention is used as an input to modulate impedance parameters by VIC. Thus, the dynamic characteristics of robot is suitable for operator's coming actions. Based on this, robot can adaptively comply to human partner better. The proposed method is verified by simulation on a 2 degrees of freedom (DOF) robot and experiments on a 6-DOF UR5 robot. Results reveal the feasibility and effectiveness of the proposed scheme in interaction process.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2379-2385
Number of pages7
ISBN (Electronic)9781728103761
DOIs
StatePublished - 2 Jul 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia
Duration: 12 Dec 201815 Dec 2018

Publication series

Name2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
CountryMalaysia
CityKuala Lumpur
Period12/12/1815/12/18

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