Faster Convergence of Interactive Force with Model-Based Controller for Discrete-Event Physical Human-Robot Interaction

抄録

In physical human-robot interactions, a collaborative robot physically interacts with a human to perform tasks in industrial settings. For safe interaction during collaborative work, analyzing the stability is beneficial. The previous study has analyzed the stability with the bias of a human's force perception and reproduction and interaction models with a reproductive controller, where a robot reproduces the force applied by a human. However, the effect of a force controller was not investigated. Thus, this study investigated different effects of a model-based controller, where a robot produces the force based on a human's input-output characteristic of force reproduction, and the reproductive controller for discrete-event physical human-robot interaction. We analyzed the stability and convergence on interactions using the reproductive and model-based controllers. Then, we found that the interactive force using the model-based controller significantly converged toward a human's implicit equilibrium point caused by the bias, and found faster convergence of the model-based controller than the reproductive controller.