MPC-Based Human-Accompanying Control Strategy for Improving the Motion Coordination Between the Target Person and the Robot.
Jianwei PengZhelin LiaoHanchen YaoZefan SuYadan ZengHoude DaiPublished in: IROS (2023)
Keyphrases
- control strategy
- robot motion
- humanoid robot
- body movements
- optimal control
- force control
- control architecture
- control loop
- control system
- control scheme
- control method
- operating conditions
- control strategies
- human robot interaction
- control algorithm
- mathematical model
- control law
- mobile robot
- end effector
- human beings
- speed control
- motion planning
- closed loop
- robot arm
- fuzzy logic control
- inverse kinematics
- sensory motor
- biped robot
- predictive control
- position and orientation
- robot manipulators
- matlab simulink
- transient response
- image sequences
- moving target
- real time
- joint angles
- autonomous navigation
- motion capture
- fuzzy controller
- human motion
- path planning
- multi agent
- outdoor environments
- collision avoidance
- pi controller
- human operators
- control signals
- simulation model
- pi control