A Proactive Controller for Human-Driven Robots Based on Force/Motion Observer Mechanisms
研究通过物理交互的人驱机器人，利用人类运动控制模型估计意图，开发无需力传感器的系统观测器和主动跟随控制器，仿真和实验验证了效果。
This article investigates human-driven robots via physical interaction, which is enhanced by integrating the human partner’s motion intention. A human motor control model is employed to estimate the human partner’s motion intention. A system observer is developed to estimate the human’s control input in this model, so that force sensing is not required. A robot controller is developed to incorporate the estimated human’s motion intention, which makes the robot proactively follow the human partner’s movements. Simulations and experiments on a physical robot are carried out to demonstrate the properties of our proposed controller.