微分ゲーム理論による物理的人間-ロボットインタラクションのモデル化と解析
Modeling and analysis of pHRI with Differential Game Theory
協調的な到達タスクにおける物理的人間-ロボットインタラクション(pHRI)を微分ゲーム理論でモデル化し、LQRや非協調ゲーム理論制御と比較して、ロボットが人間を支援する場合は協調ゲーム理論が、ロボットが主導する場合は非協調ゲーム理論が適することを示した。
著者: Paolo Franceschi, Manuel Beschi, Nicola Pedrocchi, Anna Valente
分類: cs.RO
原文アブストラクト
Applications involving humans and robots working together are spreading nowadays. Alongside, modeling and control techniques that allow physical Human-Robot Interaction (pHRI) are widely investigated. To better understand its potential application in pHRI, this work investigates the Cooperative Differential Game Theory modeling of pHRI in a cooperative reaching task, specifically for reference tracking. The proposed controller based on Collaborative Game Theory is deeply analyzed and compared in simulations with two other techniques, Linear Quadratic Regulator (LQR) and Non-Cooperative Game-Theoretic Controller. The set of simulations shows how different tuning of control parameters affects the system response and control efforts of both the players for the three controllers, suggesting the use of Cooperative GT in the case the robot should assist the human, while Non-Cooperative GT represents a better choice in the case the robot should lead the action. Finally, preliminary tests with a trained human are performed to extract useful information on the real applicability and limitations of the proposed method.
