User-Adaptive Variable Damping Control Using Bayesian Optimization to Enhance Physical Human-Robot Interaction

Zahedi, Fatemeh; Chang, Dongjune; Lee, Hyunglae

doi:10.1109/lra.2022.3144511

Cited by 6 publications

(2 citation statements)

References 22 publications

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“…Although the assumption we have might not get satisfied in all active defense problems, the problem of active defense that is occurring in the end game often follows a similar dynamic as the one proposed in this paper. Moreover, although kinematic control of a single manipulator system is well studied by different methods such as Neural-network (Li and Li, 2021; Tan et al, 2022), and variable damping control (Zahedi et al, 2021; Zahedi et al, 2022), one can go beyond the direct capabilities of our proposed algorithm, and extend the problem to be applicable to kinematic control of multi-manipulator systems.…”

Section: Discussionmentioning

confidence: 99%

Seeking Nash Equilibrium in Non-Cooperative Differential Games

Zahedi

Khayatian²,

Arefi³

2022

Journal of Vibration and Control

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This paper aims at investigating the problem of fast convergence to the Nash equilibrium (NE) for N-Player noncooperative differential games. The proposed method is such that the players attain their NE point without steady-state oscillation (SSO) by measuring only their payoff values with no information about payoff functions, the model and also the actions of other players are not required for the players. The proposed method is based on an extremum seeking (ES) method, and moreover, compared to the traditional ES approaches, in the presented algorithm, the players can accomplish their NE faster. In fact, in our method, the amplitude of the sinusoidal excitation signal in classical ES is adaptively updated and exponentially converges to zero. In addition, the analysis of convergence to NE is provided in this paper. Finally, a simulation example confirms the effectiveness of the proposed method.

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Section: Discussionmentioning

confidence: 99%

Seeking Nash Equilibrium in Non-Cooperative Differential Games

Zahedi

Khayatian²,

Arefi³

2022

Journal of Vibration and Control

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“…Although stability issues associated with HRC have been studied in depth (Li et al, 2018a; Zahedi et al, 2022), few studies have been devoted to transparency analysis of the collaborative systems. In such a system, human and robot are closely coupled.…”

Section: Introductionmentioning

confidence: 99%

Factors affecting trust in the transparency index for stable and intuitive physical human–robot cooperation

Duan,

Li,

2023

Transactions of the Institute of Measurement and Control

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Safety, stability, and intuitive control are the three most basic requirements for the design of a physical human–robot cooperation (HRC) system. High transparency is one of the main design objectives for dynamically coupled HRC systems. However, determinants of system transparency and its influence on system performance are unachievable with the current methods available. This paper presents an overview of admittance control as a method of physical interaction control between robots and human operators, in particular on the analysis of the influencing factors to the computational transparency index. The influence of frequency, sampling point number, and cutoff frequency of the weighting function on the transparency of the admittance controller were analyzed and experimentally verified. The controller was implemented on a four degree-of-freedom interactive manipulator to verify system transparency and stability. The experimental results validate the proposed framework.

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