A Compliant Human Following Method for Mobile Robot Based on an Improved Spring Model

被引：0
|
作者：
Yao H. [1 ]
Peng J. [1 ,2 ]
Dai H. [1 ,2 ]
Lin M. [1 ]
机构：
[1] Quanzhou Institute of Equipment Manufacturing, Haixi Institutes, Chinese Academy of Sciences, Jinjiang
[2] University of Chinese Academy of Sciences, Beijing
来源：
Jiqiren/Robot | 2021年 / 43卷 / 06期
关键词：
Compliant control; Human following; Human-machine integration; Human-machine interaction; Virtual spring;
D O I：
10.13973/j.cnki.robot.200310
中图分类号：
学科分类号：
摘要：
For the automated guided vehicle with human-following function in human-machine integration environment, a compliant following method of mobile robot based on an improved spring model is proposed to solve the problem of robot malfunction caused by abrupt movements of the followed target. The closed-loop control of the relative posture between the mobile robot and the followed target is performed by adding virtual springs to the legs of the followed target and obstacles to accomplish obstacle avoidance and natural interaction tasks. In particular, dynamic damping coefficients are added to the virtual spring to make the mobile robot follow the human target compliantly in real time. In Simulink simulation, the compliant following trajectory of the mobile robot is compared with the dynamic motion of the target, and thus the optimal parameters of the spring model are obtained. A self-developed two-wheeled differential mobile robot and an optical motion capture system are utilized to verify the smoothness and flexibility of the mobile robot trajectory when the followed human target performs irregular and long-distance motion. © 2021, Science Press. All right reserved.
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页码：684 / 693
页数：9
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