Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation
- Herrera Anda, Daniel Esteban
- Roberti, Flavio
- Toibero, Juan Marcos
- Carelli Albarracin, Ricardo Oscar
DOIAbstract
A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance er...
Add to ORKG