Adaptive Impedance Controller for Human-Robot Arbitration based on Cooperative Differential Game Theory
Paolo Franceschi,Nicola Pedrocchi,Manuel Beschi,Paolo Franceschi,Nicola Pedrocchi,Manuel Beschi
The problem addressed in this work is the arbitration of the role between a robot and a human during physical Human-Robot Interaction, sharing a common task. The system is modeled as a Cartesian impedance, with two separate external forces provided by the human and the robot. The problem is then reformulated as a Cooperative Differential Game, which possibly has multiple solutions on the Pareto fr...
