A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction.
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| Title: | A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction. |
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| Authors: | Aydin, Yusuf1 yaydin@ku.edu.tr, Tokatli, Ozan2 ozan.tokatli@ukaea.uk, Patoglu, Volkan3 vpatoglu@sabanciuniv.edu, Basdogan, Cagatay1 cbasdogan@ku.edu.tr |
| Source: | IEEE Transactions on Robotics. Dec2020, Vol. 36 Issue 6, p1791-1804. 14p. |
| Subjects: | Closed loop systems, Task performance, Integers, Design |
| Abstract: | Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance. However, the design of interaction controllers that achieve safe and transparent operations is challenging, mainly due to the contradicting nature of these objectives. Knowing that attaining perfect transparency is practically unachievable, controllers that allow better compromise between these objectives are desirable. In this article, we propose a multicriteria optimization framework, which jointly optimizes the stability robustness and transparency of a closed-loop pHRI system for a given interaction controller. In particular, we propose a Pareto optimization framework that allows the designer to make informed decisions by thoroughly studying the tradeoff between stability robustness and transparency. The proposed framework involves a search over the discretized controller parameter space to compute the Pareto front curve and a selection of controller parameters that yield maximum attainable transparency and stability robustness by studying this tradeoff curve. The proposed framework not only leads to the design of an optimal controller, but also enables a fair comparison among different interaction controllers. In order to demonstrate the practical use of the proposed approach, integer and fractional order admittance controllers are studied as a case study and compared both analytically and experimentally. The experimental results validate the proposed design framework and show that the achievable transparency under fractional order admittance controller is higher than that of integer order one, when both controllers are designed to ensure the same level of stability robustness. [ABSTRACT FROM AUTHOR] |
| Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 147575252 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Aydin%2C+Yusuf%22">Aydin, Yusuf</searchLink><relatesTo>1</relatesTo><i> yaydin@ku.edu.tr</i><br /><searchLink fieldCode="AR" term="%22Tokatli%2C+Ozan%22">Tokatli, Ozan</searchLink><relatesTo>2</relatesTo><i> ozan.tokatli@ukaea.uk</i><br /><searchLink fieldCode="AR" term="%22Patoglu%2C+Volkan%22">Patoglu, Volkan</searchLink><relatesTo>3</relatesTo><i> vpatoglu@sabanciuniv.edu</i><br /><searchLink fieldCode="AR" term="%22Basdogan%2C+Cagatay%22">Basdogan, Cagatay</searchLink><relatesTo>1</relatesTo><i> cbasdogan@ku.edu.tr</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22IEEE+Transactions+on+Robotics%22">IEEE Transactions on Robotics</searchLink>. Dec2020, Vol. 36 Issue 6, p1791-1804. 14p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Closed+loop+systems%22">Closed loop systems</searchLink><br /><searchLink fieldCode="DE" term="%22Task+performance%22">Task performance</searchLink><br /><searchLink fieldCode="DE" term="%22Integers%22">Integers</searchLink><br /><searchLink fieldCode="DE" term="%22Design%22">Design</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance. However, the design of interaction controllers that achieve safe and transparent operations is challenging, mainly due to the contradicting nature of these objectives. Knowing that attaining perfect transparency is practically unachievable, controllers that allow better compromise between these objectives are desirable. In this article, we propose a multicriteria optimization framework, which jointly optimizes the stability robustness and transparency of a closed-loop pHRI system for a given interaction controller. In particular, we propose a Pareto optimization framework that allows the designer to make informed decisions by thoroughly studying the tradeoff between stability robustness and transparency. The proposed framework involves a search over the discretized controller parameter space to compute the Pareto front curve and a selection of controller parameters that yield maximum attainable transparency and stability robustness by studying this tradeoff curve. The proposed framework not only leads to the design of an optimal controller, but also enables a fair comparison among different interaction controllers. In order to demonstrate the practical use of the proposed approach, integer and fractional order admittance controllers are studied as a case study and compared both analytically and experimentally. The experimental results validate the proposed design framework and show that the achievable transparency under fractional order admittance controller is higher than that of integer order one, when both controllers are designed to ensure the same level of stability robustness. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of IEEE Transactions on Robotics is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1109/TRO.2020.2998606 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 14 StartPage: 1791 Subjects: – SubjectFull: Closed loop systems Type: general – SubjectFull: Task performance Type: general – SubjectFull: Integers Type: general – SubjectFull: Design Type: general Titles: – TitleFull: A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Aydin, Yusuf – PersonEntity: Name: NameFull: Tokatli, Ozan – PersonEntity: Name: NameFull: Patoglu, Volkan – PersonEntity: Name: NameFull: Basdogan, Cagatay IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 12 Text: Dec2020 Type: published Y: 2020 Identifiers: – Type: issn-print Value: 15523098 Numbering: – Type: volume Value: 36 – Type: issue Value: 6 Titles: – TitleFull: IEEE Transactions on Robotics Type: main |
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