动力学在线更新的人和机器人握手智能控制器

为实现人和机器人握手运动的同步, 本文提出了一种基于动力学在线更新的智能控制器. 首先, 建立了人和机器人握手的仿真模型; 然后对智能控制器中有任意吸引子的动力学系统进行多项式近似设计和在线更新设计,使其具备自振动特性和输入输出同步特性; 同时通过忘却系数和负荷系数, 输入输出同步程度能实现参数可调; 最后, 将该智能控制器用于人和机器人握手的控制中, 仿真结果表明了该智能控制器设计的有效性.

Intelligent controller for human-robot handshaking based on online update of dynamics

To realize the human-robot handshaking, we propose an intelligent controller for synchronizing the motions based on the online update of dynamics. In the simulation model for human-robot handshaking, the system dynamics of any attractor in the intelligent controller is approximated by a polynomial expression and is updated online, so that it has the self-oscillation characteristic and the input-output synchronization characteristic. The degrees of input-output synchronization can be varied by adjusting the forgetting-parameter and the load-parameter in the system dynamics. In the process of simulation, the human-robot handshaking is realized, demonstrating the validity of the intelligent controller.