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Synchronisation-based control for a collaborative robot

Eberle, H., Nasuto, S. and Hayashi, Y. (2020) Synchronisation-based control for a collaborative robot. Royal Society Open Science. ISSN 2054-5703 (In Press)

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Abstract/Summary

This paper introduces a new control scheme for controlling a robotic manipulator in a collaborative task, allowing it to respond proactively to its partner’s movements. Unlike conventional robotic systems, humans can operate in an unstructured, dynamic environment due to their ability to anticipate changes before they occur and react accordingly. Recreating this artificially by using a forward model would lead to the huge computational task of simulating a world full of complex nonlinear dynamics and autonomous human agents. In this study, a controller based on anticipating synchronisation (AS), where a ‘leader’ dynamical system is predicted by a coupled ‘follower’ with delayed self-feedback, is used to modify a robot’s dynamical behaviour to follow that of a series of leaky integrators and harmonic oscillators. This allows the robot (follower) to be coupled with a collaborative partner (leader) in order to anticipate its movements, without a complete model of its behaviour. This is tested by tasking a simulated Baxter robot with performing a collaborative manual coordination task with an autonomous partner under a range of feedback delay conditions, confirming its ability to anticipate using oscillators instead of a detailed forward model.

Item Type:Article
Refereed:Yes
Divisions:Faculty of Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:95347
Publisher:The Royal Society

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