Open AccessSynchronization-based control for a collaborative robot
Author(s) -
Henry Eberle,
Slawomir J. Nasuto,
Yoshikatsu Hayashi
Publication year - 2020
Publication title -
royal society open science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.84
H-Index - 51
ISSN - 2054-5703
DOI - 10.1098/rsos.201267
Subject(s) - task (project management) , computer science , robot , synchronization (alternating current) , controller (irrigation) , control engineering , control theory (sociology) , dynamical systems theory , control (management) , artificial intelligence , engineering , computer network , agronomy , channel (broadcasting) , physics , systems engineering , quantum mechanics , biology
This article 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 synchronization, 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) 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.