Slaves no longer: review on role assignment for human–robot joint motor action

Jarrassé, Nathanaël; Sanguineti, Vittorio; Burdet, Etienne

doi:10.1177/1059712313481044

Cited by 97 publications

(66 citation statements)

References 97 publications

(174 reference statements)

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“…The importance of adjustable leader/follower roles for shared control has been emphasized in a recent review [18], and there are several works in this direction. In [19], the role of the robot was switched between leader or follower based on online estimates of impedance parameters that indicate human intention.…”

Section: Introductionmentioning

confidence: 99%

Continuous Role Adaptation for Human–Robot Shared Control

et al. 2015

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Abstract-In this paper, we propose a role adaptation method for human-robot shared control. Game theory is employed for fundamental analysis of this two-agent system. An adaptation law is developed such that the robot is able to adjust its own role according to the human's intention to lead or follow, which is inferred through the measured interaction force. In the absence of human interaction forces, the adaptive scheme allows the robot to take the lead and complete the task by itself. On the other hand, when the human persistently exerts strong forces that signal an unambiguous intent to lead, the robot yields and becomes the follower. Additionally, the full spectrum of mixed roles between these extreme scenarios is afforded by continuous online update of the control that is shared between both agents. Theoretical analysis shows that the resulting shared control is optimal with respect to a two-agent coordination game. Experimental results illustrate better overall performance, in terms of both error and effort, compared to fixed-role interactions.

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Section: Introductionmentioning

confidence: 99%

Continuous Role Adaptation for Human–Robot Shared Control

et al. 2015

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“…However, as mentioned above, the cost function of the human partner is unknown and probably not Γ, which results in different Nash equilibria requiring control inputs different from (9) and (10). As the actual control input of the human partner, f , is measurable, its difference from f * can be deemed as a measure of conflict between the human partner's objective and current situation.…”

Section: B Adaptation Law: Towards Coordinationmentioning

confidence: 99%

“…In [10], it has been highlighted that a framework with adjustable leader/follower roles is essential for human-robot joint motor actions. Risk-sensitive optimal feedback control is proposed in [11], which is the basis of the following two works: in [12], role adaptation is achieved by adaptive attitude design depending on both the disagreement level and environmental situation; and in [13], an adaptation strategy is developed to switch between model-based and model-free predictions in the case of partially known tasks.…”

Section: Introductionmentioning

confidence: 99%

Adaptive optimal control for coordination in physical human-robot interaction

Tee

Yan

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full control of the system when there is no human intervention. In the other boundary condition, it becomes a follower when the human exhibits strong intention to lead the task. Experimental results show that the proposed method yields better overall performance than fixed-role interactions.

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“…• The division of roles between the robot and the operator who determines what an actor needs and must do must be designed in a way that supports safe operations [11]. Game theory [12,13] and optimization [14] have been mentioned as ways to approach the problem.…”

Section: Safety When Operators Work In Direct Robot Contactmentioning

confidence: 99%

Safety Assessment Strategy for Collaborative Robot Installations

Grahn¹,

Johansen²,

Eriksson³

2017

Robots Operating in Hazardous Environments

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Industrial resource efficiency can be improved if the safety barrier between humans and robots is removed, as this enables operators and robots to work side by side or in direct collaboration to solve a task, usually referred to as a collaborative robot installation. Even though technology development makes the barrier removal ever more feasible from a safety perspective, this still produces a possible hazardous working environment, and safety assessment strategies are crucial. A wide area of knowledge is required to assess all fields that can help ensure safe human-machine interaction. Here the focus is primarily on providing a description of the key fields identified, including how operators psychologically accept working with robots, and providing a cursory description of the research front for each individual field. In addition to covering a large number of parameters, the assessment strategy also needs to be cost-effective. A significant part of all parameters that can be considered when attempting to produce optimized and cost-effective collaborative robot installations will also have a direct impact on operator safety. Hence, assessments for safety, and assessments for cost-effectiveness, cannot be separated, and are treated as two objectives that need to be viewed in sync.

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Slaves no longer: review on role assignment for human–robot joint motor action

Cited by 97 publications

References 97 publications

Continuous Role Adaptation for Human–Robot Shared Control

Continuous Role Adaptation for Human–Robot Shared Control

Adaptive optimal control for coordination in physical human-robot interaction

Safety Assessment Strategy for Collaborative Robot Installations

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