scholarly journals A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction

2020 ◽  
Vol 36 (6) ◽  
pp. 1791-1804
Author(s):  
Yusuf Aydin ◽  
Ozan Tokatli ◽  
Volkan Patoglu ◽  
Cagatay Basdogan
Keyword(s):  
Multicriteria Optimization ◽  
Controller Design ◽  
Human Robot Interaction ◽  
Optimization Approach ◽  
Robot Interaction

Controller design for human-robot interaction

2007 ◽  
Vol 24 (2) ◽  
pp. 123-134 ◽  
Author(s):  
Eric Meisner ◽  
Volkan Isler ◽  
Jeff Trinkle
Keyword(s):  
Controller Design ◽  
Human Robot Interaction ◽  
Robot Interaction

A Multi-Objective Optimization Approach for Multi-Vehicle Path Planning Problems considering Human-Robot Interactions

2022 ◽  
pp. 1-14
Author(s):  
Venkata Sirimuvva Chirala ◽  
Saravanan Venkatachalam ◽  
Jonathon Smereka ◽  
Sam Kassoumeh
Keyword(s):  
Path Planning ◽  
Human Robot Interaction ◽  
Planning Problem ◽  
Optimization Approach ◽  
Unmanned Ground Vehicles ◽  
Ground Vehicles ◽  
Robot Interaction ◽  
Ground Vehicle ◽  
Multi Objective ◽  
Vehicle Path

Abstract There has been unprecedented development in the field of unmanned ground vehicles (UGVs) over the past few years. UGVs have been used in many fields including civilian and military with applications such as military reconnaissance, transportation, and search and research missions. This is due to their increasing capabilities in terms of performance, power, and tackling risky missions. The level of autonomy given to these UGVs is a critical factor to consider. In many applications of multi-robotic systems like “search-and-rescue” missions, teamwork between human and robots is essential. In this paper, given a team of manned ground vehicles (MGVs) and unmanned ground vehicles (UGVs), the objective is to develop a model which can minimize the number of teams and total distance traveled while considering human-robot interaction (HRI) studies. The human costs of managing a team of UGVs by a manned ground vehicle (MGV) are based on human-robot interaction (HRI) studies. In this research, we introduce a combinatorial, multi objective ground vehicle path planning problem which takes human-robot interactions into consideration. The objective of the problem is to find: ideal number of teams of MGVs-UGVs that follow a leader-follower framework where a set of UGVs follow an MGV; and path for each team such that the missions are completed efficiently.

Closed-Form Solution to Controller Design for Human-Robot Interaction

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Bakir Lacevic ◽  
Paolo Rocco
Keyword(s):  
Parameter Space ◽  
Controller Design ◽  
State Of The Art ◽  
Closed Form Solution ◽  
Realistic Model ◽  
Form Solution ◽  
Human Robot Interaction ◽  
Worst Case Analysis ◽  
Robot Interaction ◽  
Worst Case

This paper deals with controller design for gentle physical human-robot interaction. Two objectives are set up. The first is to establish an analytical framework in order to justify the good features of state of the art controller, recently designed by numerical search of parameter space. The second is to investigate the possibilities to improve the performance of such controller. Our method ensures “prescribed” admittance behavior of the robot, similar to natural admittance controller design but with both more realistic model of the robot and more realistic target admittance. Joining natural admittance approach with the concept of complementary stability allows reaping the benefits of both. Limited knowledge about the environment via structured uncertainty allows a very simple worst-case analysis using elementary tools such as Routh–Hurwitz stability criterion. Consequent relation within the parameters determines an allowed region in the parameter space, where the contact stability is guaranteed. Not surprisingly, on one border of this region, the system behaves exactly the same as when the state of the art controller is employed. In addition, unexpected stability regions are discovered, suggesting theoretical performance improvements.

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