Dilip Kumar Limbu — accepted AI-conference papers

2015

Adaptive optimal control for coordination in physical human-robot interaction

Yanan Li, Keng Peng Tee, Rui Yan, Wei Liang Chan, Yan Wu, Dilip Kumar Limbu

IROS 2015poster

In this paper, we propose an adaptive optimal control for a robot to collaborate with a human. Game theory and policy iteration are employed to analyze the interactive behaviors of the human and the robot in physical interactions. The human's control objective is estimated and it is used to adapt th…

Cited by 26 Source ↗Scholar ↗

2015

Role adaptation of human and robot in collaborative tasks

Yanan Li, Keng Peng Tee, Wei Liang Chan, Rui Yan, Yuanwei Chua, Dilip Kumar Limbu

ICRA 2015poster

In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full…

Cited by 44 Source ↗Scholar ↗