Passive arbitration in adaptive shared control of robots with variable force and stiffness scaling |
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| Affiliation: | 1. Graduate School, Department of Mechanical Engineering, Chonnam National University, Gwangju 61186, South Korea;2. Daegu-Gyeongbuk Medical Innovation Foundation, Daegu 41061, South Korea;3. Department of Urology, Hanyang University College of Medicine, Seoul 61186, South Korea;4. School of Mechanical Engineering, Chonnam National University, Gwangju 61186, South Korea;1. School of Mechanical Engineering, Zhejiang University, Hangzhou, 310012, China;2. School of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China;1. State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China;2. Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China;3. School of Robotics, Ningbo University of Technology, Ningbo 315211, China;4. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China;5. Hangzhou Boomy Intelligent Technology Co., Ltd. Hangzhou 310051, China |
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| Abstract: | In mixed-initiative shared control, the final control command to the robot is a weighted sum of the commands from two or more agents (human operators or automatic control systems). In force controlled robots, scaling of forces without power-consistent scaling of velocities leads to loss of passivity of the overall system. In this work, we first pose the problem statement related to position drift, while using a state-of-the-art, passivity ensuring method for scaling of forces. We then formulate adaptive mixed-initiative shared control as an adaptive stiffness control approach. We ensure passivity of the adaptive stiffness controller with a novel, model-independent method. The salient features, benefits and limitations of the approach are emphasized through analyses, simulations and hardware experiments. The proposed approach is finally validated with a practical shared control task. |
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| Keywords: | Human–robot interaction Shared control Adaptive arbitration Teleoperation Passivity Stability |
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