论文标题
与束缚的飞行器的物理人类机器人互动：应用于基于力的人类指导问题
Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem
论文作者
论文摘要
如今，人类机器人互动（PHRI）是地面操纵领域中非常受欢迎的话题。同时，空中物理互动（APHI）也非常快速发展。然而，到目前为止，尚未解决带有飞机的PHRI。在这项工作中，我们介绍了对人体通过电缆物理连接到航空车辆的第一个系统之一的研究。我们希望机器人能够将人类作为间接通信通道的力量将人类拉向所需的位置（或沿着路径）。我们提出了一种基于入学的方法，以使PHRI安全。受到柔性操纵器的文献的启发的控制器计算了适当指导人类的所需相互作用力。基于Lyapunov的参数正式证明了系统的稳定性。该系统也被证明是被动的，因此对非理想性，例如其他人类力量，随时间变化的投入和其他外部干扰。我们还设计了一个机动监管策略，以简化路径以下问题。全局方法已在四个受试者组中进行了实验验证，显示了一个可靠且安全的PHRI。
Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. We want the robot to be able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel. We propose an admittance-based approach that makes pHRI safe. A controller, inspired by the literature on flexible manipulators, computes the desired interaction forces that properly guide the human. The stability of the system is formally proved with a Lyapunov-based argument. The system is also shown to be passive, and thus robust to non-idealities like additional human forces, time-varying inputs, and other external disturbances. We also design a maneuver regulation policy to simplify the path following problem. The global method has been experimentally validated on a group of four subjects, showing a reliable and safe pHRI.
