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Human-robot haptic joint actions is an equal control-sharing approach possible?

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1 Author(s)
Abderrahmane Kheddar ; CNRS-AIST Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan

This paper proposes a speculative model and control framework for human-robot haptic joint (i.e. collaborative) actions in which the roles human and robot partners play as leaders or followers is not predetermined prior to tasks execution. In this proposed scheme, role switching is made by a homotopy: that is, a time-variant, continuous or set-value, weighting interpolation function between the two extreme (leader of follower) behaviors for each individual. The role of each individual is changeable anytime with any plausible dynamic all along task execution. The formalism allows arbitrary functions for each partner's leader and follower control laws. We discuss strengths, weaknesses and perspectives of such an approach.

Published in:

Human System Interactions (HSI), 2011 4th International Conference on

Date of Conference:

19-21 May 2011