LQR-based control strategy for improving human–robot companionship and natural obstacle avoidance
In the dynamic and unstructured environment of human–robot symbiosis, companion robots require natural human–robot interaction and autonomous intelligence through multimodal information fusion to achieve effective collaboration. Nevertheless, the control precision and coordination of the accompanyin...
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| Vydané v: | Biomimetic intelligence and robotics Ročník 4; číslo 4; s. 100185 |
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| Hlavní autori: | , , , , , , , |
| Médium: | Journal Article |
| Jazyk: | English |
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Elsevier B.V
01.12.2024
Elsevier |
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| ISSN: | 2667-3797, 2667-3797 |
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| Abstract | In the dynamic and unstructured environment of human–robot symbiosis, companion robots require natural human–robot interaction and autonomous intelligence through multimodal information fusion to achieve effective collaboration. Nevertheless, the control precision and coordination of the accompanying actions are not satisfactory in practical applications. This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot. This paper proposes a companion control strategy based on the Linear Quadratic Regulator (LQR) to enhance the coordination and precision of robot companion tasks. This method enables the robot to adapt to sudden changes in the companion target’s motion. Besides, the robot could smoothly avoid obstacles during the companion process. Firstly, a human–robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target. Then, an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target’s direction and velocity. Finally, various simulations and real-world human–robot companion experiments are conducted to regulate the relative position, orientation, and velocity between the target object and the robot platform. Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation. The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios. |
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| AbstractList | In the dynamic and unstructured environment of human–robot symbiosis, companion robots require natural human–robot interaction and autonomous intelligence through multimodal information fusion to achieve effective collaboration. Nevertheless, the control precision and coordination of the accompanying actions are not satisfactory in practical applications. This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot. This paper proposes a companion control strategy based on the Linear Quadratic Regulator (LQR) to enhance the coordination and precision of robot companion tasks. This method enables the robot to adapt to sudden changes in the companion target’s motion. Besides, the robot could smoothly avoid obstacles during the companion process. Firstly, a human–robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target. Then, an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target’s direction and velocity. Finally, various simulations and real-world human–robot companion experiments are conducted to regulate the relative position, orientation, and velocity between the target object and the robot platform. Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation. The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios. |
| ArticleNumber | 100185 |
| Author | Yu, Hui Yao, Hanchen Lueth, Tim C. Su, Zefan Wang, Zengwei Peng, Jianwei Liao, Zhelin Dai, Houde |
| Author_xml | – sequence: 1 givenname: Zefan orcidid: 0009-0002-7958-6886 surname: Su fullname: Su, Zefan organization: School of Advanced Manufacturing, Fuzhou University, Jinjiang 362251, China – sequence: 2 givenname: Hanchen orcidid: 0000-0001-7822-4088 surname: Yao fullname: Yao, Hanchen organization: Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, Jinjiang 362200, China – sequence: 3 givenname: Jianwei surname: Peng fullname: Peng, Jianwei organization: Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, Jinjiang 362200, China – sequence: 4 givenname: Zhelin surname: Liao fullname: Liao, Zhelin organization: Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, Jinjiang 362200, China – sequence: 5 givenname: Zengwei orcidid: 0000-0003-4867-4795 surname: Wang fullname: Wang, Zengwei organization: Institute of Micro Technology and Medical Device Technology (MIMED), School of Engineering and Design, Technical University of Munich, Garching 85748, Germany – sequence: 6 givenname: Hui surname: Yu fullname: Yu, Hui email: yuhui@fjirsm.ac.cn organization: Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, Jinjiang 362200, China – sequence: 7 givenname: Houde orcidid: 0000-0001-7417-7974 surname: Dai fullname: Dai, Houde email: dhd@fjirsm.ac.cn organization: Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, Jinjiang 362200, China – sequence: 8 givenname: Tim C. surname: Lueth fullname: Lueth, Tim C. organization: Institute of Micro Technology and Medical Device Technology (MIMED), School of Engineering and Design, Technical University of Munich, Garching 85748, Germany |
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| Cites_doi | 10.1007/s12369-019-00559-2 10.1016/j.robot.2022.104317 10.1007/s10919-009-0077-y 10.1007/s10514-007-9075-2 10.1177/0278364919881683 10.1109/TIE.2003.821894 10.1109/TCDS.2018.2825641 10.1109/TIE.2013.2262758 10.1177/027836498600500106 10.1038/s41598-023-33837-1 10.1109/TSMC.2018.2871104 10.1145/2157689.2157799 10.1109/TMECH.2021.3068138 |
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| Keywords | Human–robot interaction Linear quadratic regulator Behavioral dynamics Human-accompanying robots |
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