TY - GEN
T1 - Adaptive attitude design with risk-sensitive optimal feedback control in physical human-robot interaction
AU - Saida, Masao
AU - Medina, Jose Ramon
AU - Hirche, Sandra
PY - 2012
Y1 - 2012
N2 - Anticipatory behavior based on the human behavior prediction enables the robot to improve the quality of its assistance in physical human-robot interaction (pHRI). However, predictions are partly afflicted with high uncertainties originating from the intrinsic variability in human behavior and the influence of the environment, requiring an attitude negotiation among partners. In this paper, we propose a novel control approach that dynamically adapts the robot's attitude to the disagreement level and the environmental situation in real time facilitating the negotiation between the human and the robot. The approach is based on risk-sensitive optimal feedback control. The adaptive design of the robot's attitude is realized through a dynamical changing risk-sensitivity parameter. The proposed approach is experimentally validated in a cooperative transport scenario in a two-dimensional visuo-haptic virtual environment.
AB - Anticipatory behavior based on the human behavior prediction enables the robot to improve the quality of its assistance in physical human-robot interaction (pHRI). However, predictions are partly afflicted with high uncertainties originating from the intrinsic variability in human behavior and the influence of the environment, requiring an attitude negotiation among partners. In this paper, we propose a novel control approach that dynamically adapts the robot's attitude to the disagreement level and the environmental situation in real time facilitating the negotiation between the human and the robot. The approach is based on risk-sensitive optimal feedback control. The adaptive design of the robot's attitude is realized through a dynamical changing risk-sensitivity parameter. The proposed approach is experimentally validated in a cooperative transport scenario in a two-dimensional visuo-haptic virtual environment.
UR - http://www.scopus.com/inward/record.url?scp=84870786140&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2012.6343873
DO - 10.1109/ROMAN.2012.6343873
M3 - Conference contribution
AN - SCOPUS:84870786140
SN - 9781467346054
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 955
EP - 961
BT - 2012 IEEE RO-MAN
T2 - 2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Y2 - 9 September 2012 through 13 September 2012
ER -