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A Hybrid Human Motion Prediction Approach for Human-Robot Collaboration

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Advances in Computational Intelligence Systems (UKCI 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1043))

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Abstract

Prediction of human motion is useful for a robot to collaborate with a human partner. In this paper, we propose a hybrid approach for the robot to predict the human partner’s motion by using position and haptic information. First, a computational model is established to describe the change of the human partner’s motion, which is fitted by using the historical human motion data. The output of this model is used as the robot’s reference position in an impedance control model. Then, this reference position is modified by minimizing the interaction force between the human and robot, which indicates the discrepancy between the predicted motion and the real one. The combination of the prediction using a computational model and modification using the haptic feedback enables the robot to actively collaborate with the human partner. Simulation results show that the proposed hybrid approach outperforms impedance control, model-based prediction only and haptic feedback only.

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Author information

Authors and Affiliations

  1. Department of Engineering and Design, University of Sussex, Brighton, BN1 9RH, UK

    Yanan Li

  2. Bristol Robotics Laboratory, University of the West of England, Bristol, BS16 1QY, UK

    Chenguang Yang

Authors
  1. Yanan Li
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  2. Chenguang Yang
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Corresponding author

Correspondence to Yanan Li .

Editor information

Editors and Affiliations

  1. School of Computing, University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  2. Department of Computer and Information Sciences, Northumbria University, Newcastle upon Tyne, UK

    Longzhi Yang

  3. Bristol Robotics Laboratory, University of the West of England, Bristol, UK

    Chenguang Yang

  4. School of Computing, University of Portsmouth, Portsmouth, Hampshire, UK

    Alexander Gegov

  5. School of Computing, University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Li, Y., Yang, C. (2020). A Hybrid Human Motion Prediction Approach for Human-Robot Collaboration. In: Ju, Z., Yang, L., Yang, C., Gegov, A., Zhou, D. (eds) Advances in Computational Intelligence Systems. UKCI 2019. Advances in Intelligent Systems and Computing, vol 1043. Springer, Cham. https://doi.org/10.1007/978-3-030-29933-0_7

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