TY - GEN
T1 - Fuzzy-based adaptive motion control of a virtual iCub robot in human-robot-interaction
AU - Xu, Zejun
AU - Yang, Chenguang
AU - Ma, Hongbin
AU - Fu, Menyin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/4
Y1 - 2014/9/4
N2 - In this paper, in order to combine intelligence of human operator and automatic function of the robot, we design a control scheme for the bimanual robot manipulation, in which the leading robot arm is directly manipulated by a human operator through a haptic device and the following robot arm will automatically adjust its motion to match the operator's motion. In this paper, we propose a fuzzy-based adaptive feedforward compensation controller and apply it into the robot control. According to the comparison results in the simulated experiment, we conclude that the fuzzy-adaptive controller performs better than the non-fuzzy controller, although they can both complete the specified task by tracking the leading robot arm controlled by the human operator. The techniques developed in this paper could be very useful for our future study on adaptation in human-robot interaction in improving the reliability, safety and intelligence.
AB - In this paper, in order to combine intelligence of human operator and automatic function of the robot, we design a control scheme for the bimanual robot manipulation, in which the leading robot arm is directly manipulated by a human operator through a haptic device and the following robot arm will automatically adjust its motion to match the operator's motion. In this paper, we propose a fuzzy-based adaptive feedforward compensation controller and apply it into the robot control. According to the comparison results in the simulated experiment, we conclude that the fuzzy-adaptive controller performs better than the non-fuzzy controller, although they can both complete the specified task by tracking the leading robot arm controlled by the human operator. The techniques developed in this paper could be very useful for our future study on adaptation in human-robot interaction in improving the reliability, safety and intelligence.
UR - http://www.scopus.com/inward/record.url?scp=84912559178&partnerID=8YFLogxK
U2 - 10.1109/FUZZ-IEEE.2014.6891886
DO - 10.1109/FUZZ-IEEE.2014.6891886
M3 - Conference contribution
AN - SCOPUS:84912559178
T3 - IEEE International Conference on Fuzzy Systems
SP - 1463
EP - 1468
BT - Proceedings of the 2014 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2014
Y2 - 6 July 2014 through 11 July 2014
ER -