Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction
Kevin Haninger,Christian Hegeler,Luka Peternel,Kevin Haninger,Christian Hegeler,Luka Peternel
Physical human-robot interaction can improve human ergonomics, task efficiency, and the flexibility of automation, but often requires application-specific methods to detect human state and determine robot response. At the same time, many potential human-robot interaction tasks involve discrete modes, such as phases of a task or multiple possible goals, where each mode has a distinct objective and ...
