Multistep Intent Estimation Guided Adaptive Passive Control for Safety-Aware Physical Human-Robot Collaboration

pHRC requires strict safety and efficiency guarantees, imposing heightened demands on accurate human intent estimation and adaptive control in a stable manner. To address these challenges, we propose a novel two-loop adaptive passive control framework guided by multistep human intent estimation to r...

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Bibliographic Details

Published in:	IEEE transactions on cybernetics Vol. PP; pp. 1 - 13
Main Authors:	Liu, Haotian, Zhang, Zhengtao, Tong, Yuchuang, Ju, Zhaojie
Format:	Journal Article
Language:	English
Published:	United States IEEE 10.10.2025
Subjects:	Accuracy Behavioral sciences Collaboration Estimation Force Impedance Model predictive control multistep human intent estimation passivity constraint pHRC reinforcement learning (RL) Robot sensing systems Robots Stability analysis Transformers
ISSN:	2168-2267, 2168-2275, 2168-2275
Online Access:	Get full text
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