Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning

doi:10.1109/JAS.2021.1004258

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning
	Yongliang Yang; Zihao Ding; Rui Wang; Hamidreza Modares; Donald C. Wunsch
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:1 页码:47-63
摘要	In this paper, we present a novel data-driven design method for the human-robot interaction (HRI) system, where a given task is achieved by cooperation between the human and the robot. The presented HRI controller design is a two-level control design approach consisting of a task-oriented performance optimization design and a plant-oriented impedance controller design. The task-oriented design minimizes the human effort and guarantees the perfect task tracking in the outer-loop, while the plant-oriented achieves the desired impedance from the human to the robot manipulator end-effector in the inner-loop. Data-driven reinforcement learning techniques are used for performance optimization in the outer-loop to assign the optimal impedance parameters. In the inner-loop, a velocity-free filter is designed to avoid the requirement of end-effector velocity measurement. On this basis, an adaptive controller is designed to achieve the desired impedance of the robot manipulator in the task space. The simulation and experiment of a robot manipulator are conducted to verify the efficacy of the presented HRI design framework.
关键词	Adaptive impedance control data-driven method human-robot interaction (HRI) reinforcement learning velocity-free
DOI	10.1109/JAS.2021.1004258
WOS记录号	WOS:000709092600008
引用统计	被引频次：20[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45973
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yongliang Yang,Zihao Ding,Rui Wang,et al. Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(1):47-63.
APA	Yongliang Yang,Zihao Ding,Rui Wang,Hamidreza Modares,&Donald C. Wunsch.(2022).Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,9(1),47-63.
MLA	Yongliang Yang,et al."Data-Driven Human-Robot Interaction Without Velocity Measurement Using Off-Policy Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 9.1(2022):47-63.

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