Hierarchical approximate optimal interaction control of human-centered modular robot manipulator systems: A Stackelberg differential game-based approach

A Stackelberg game-based approximate optimal interaction control approach is presented for human-centered modular robot manipulator (MRM) systems. Joint torque feedback (JTF) technique is utilized to form the MRM dynamic model. The major objective of optimal control with human–robot collaboration (H...

Full description

Bibliographic Details

Published in:	Neurocomputing (Amsterdam) Vol. 585; p. 127573
Main Authors:	An, Tianjiao, Zhu, Xinye, Ma, Bing, Jiang, Hucheng, Dong, Bo
Format:	Journal Article
Language:	English
Published:	Elsevier B.V 07.06.2024
Subjects:	Adaptive dynamic programming Human–robot collaboration Interaction control Modular robot manipulators Stackelberg differential game Interaction control Adaptive dynamic programming Modular robot manipulators Stackelberg differential game Human–robot collaboration
ISSN:	0925-2312
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!