Control for physical human-robot interaction based on online update of dynamics

摘要

In order to realize the synchronization of motions, a controller based on online update design of dynamics is proposed for the control of physical human-robot interaction(pHRI) in this paper. Firstly, by using polynomial expression approximation design, dynamics system with arbitrary attractor in controller can have the self-oscillation characteristic. Secondly, by using online update design, dynamics system can have synchronization characteristic for in-out signal. And the degree of synchronization can be adjusted with oblivion parameter and weighted parameter in dynamics. Finally, based on 7 DOF robot arm, experiment is implemented for human-robot handshaking by using this controller, and experimental results indicate the controller's validity.