Switched Control to Robot-Human Bilateral Interaction for Guiding People

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• 作者：Paulo Leica (1)
  Juan Marcos Toibero (1) (2)
  Flavio Roberti (1) (2)
  Ricardo Carelli (1) (2)
  
• 关键词：Human ; robot interaction ; Bilateral interaction ; Mobile robots ; Lyapunov stability
• 刊名：Journal of Intelligent and Robotic Systems
• 出版年：2015
• 出版时间：January 2015
• 年：2015
• 卷：77
• 期：1
• 页码：73-93
• 全文大小：3,293 KB
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• 作者单位：Paulo Leica (1)
  Juan Marcos Toibero (1) (2)
  Flavio Roberti (1) (2)
  Ricardo Carelli (1) (2)
  
  1. Instituto de Autom谩tica, Universidad Nacional de San Juan, Av. San Martin Oeste 1109, San Juan, J5400ARL, Argentina
  2. Consejo Nacional de Investigaci贸n Cient铆ficas y T茅cnicas, San Juan, Argentina
  
• ISSN：1573-0409

文摘

This paper presents a switched control strategy to interpret and design a human-robot bilateral interaction when a human follows a non-holonomic mobile robot at a desired distance while the robot is already following a known path. Furthermore, it proposes and experimentally validates a model that mathematically describes the human behavior when performing the specific task of tracking a mobile robot. This model is useful for the purposes of the control system design and its associated stability analysis. A switched system is proposed to model the complete human-robot behavior. The switching strategy is based on the human-robot relative position and on the human intention to follow the robot. Control errors are defined in terms of human to robot and robot to path instantaneous distances. Stability analyses for the individual controllers, as well as for the complete switching system, are provided by considering Lyapunov theory. Real human-robot interaction experiments show the good performance of the proposed control strategy.