Control algorithm of neural oscillator for physical human-robot interaction

被引：0
作者：
Wu, De-Ming [1 ]
Xie, Guang-Hui [1 ,2 ]
Wang, Guang-Jian [2 ]
机构：
[1] Chongqing College of Electronic Engineering, Chongqing
[2] State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2015年 / 32卷 / 05期
关键词：
Algorithm; Motion synchronization; Neural oscillator; PHRI; Proportional differential (PD) feedback control;
D O I：
10.7641/CTA.2015.40480
中图分类号：
学科分类号：
摘要：
To synchronize motions between the robot and human, we propose a control algorithm for physical humanrobot interaction (pHRI), based on the multi-joint neural oscillator. The input of the algorithm is the joint-torque signal of pHRI, and its output is the expected-angle of the robot joint. Coupling characteristics are analyzed for representative two-joint neural oscillator. Based on the robot arm, experiment is implemented for human-robot handshaking by using this algorithm. The experiment results indicate the algorithm validity. The control algorithm can realize the synchronization of motions between robot and human. The strength of input-output synchronization can be varied by adjusting the gain parameters in the algorithm. ©, 2015, South China University of Technology. All right reserved.
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页码：695 / 702
页数：7
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