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 2015poster44 citations

Role adaptation of human and robot in collaborative tasks

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

Abstract

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 control of the system when there is no human intervention. In the other boundary condition, it becomes a follower when the human exhibits strong intention to lead the task. Experimental results show that the proposed method yields better overall performance than fixed-role interactions.

BibTeX

@inproceedings{icra2015_roleadaptationof,
  title = {Role adaptation of human and robot in collaborative tasks},
  author = {Yanan Li and Keng Peng Tee and Wei Liang Chan and Rui Yan and Yuanwei Chua and Dilip Kumar Limbu},
  booktitle = {ICRA 2015},
  year = {2015}
}