Learning Human Motion Intention for pHRI Assistive Control
Paolo Franceschi,Fabio Bertini,Francesco Braghin,Loris Roveda,Nicola Pedrocchi,Manuel Beschi,Paolo Franceschi,Fabio Bertini,Francesco Braghin,Loris Roveda,Nicola Pedrocchi,Manuel Beschi
This work addresses human intention identification during physical Human-Robot Interaction (pHRI) tasks to include this information in an assistive controller. To this purpose, human intention is defined as the desired trajectory that the human wants to follow over a finite rolling prediction horizon so that the robot can assist in pursuing it. This work investigates a Recurrent Neural Network (RN...
