Inverse Optimal Control for the identification of human objective: a preparatory study for physical Human-Robot Interaction

被引：8
作者：
Franceschi, Paolo [1 ,2 ]
Pedrocchi, Nicola [1 ]
Beschi, Manuel [2 ]
机构：
[1] CNR STIIMA, Via Alfonso Corti 12, I-20133 Milan, Italy
[2] UniBs, Via Branze 38, I-25123 Brescia, Italy
来源：
2022 IEEE 27TH INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) | 2022年
关键词：
Inverse Optimal Control; physical Human-Robot Interaction; GAME-THEORY;
D O I：
10.1109/ETFA52439.2022.9921553
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Nowadays, many applications involving humans and robots working together require physical interaction. It is known that, during an interaction, the mutual understanding and knowledge of the partner's goal improves and allows natural interaction. For this purpose, this work proposes Inverse Optimal Control (IOC) to recover the cost function of a human performing a reaching task with a robot in passive impedance control. This work presents the potentialities and limitations of the presented IOC method to describe human objectives. This work represents a preparatory study toward smooth and natural physical Human-Robot Interaction (pHRI), intending to understand the basic information on humans' behavior.
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页数：6
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