A Compliant Robot Control Based on Extended Social-force Model for Human-following and Obstacle Avoidance

Authors

Jianwei Peng, Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China; University of Chinese Academy of Sciences, Beijing 100049, China;Follow
Zhelin Liao, Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China; Fujian Agriculture and Forestry University, Fuzhou 350002, China
Hanchen Yao, Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China; University of Chinese Academy of Sciences, Beijing 100049, China;
Zhiyu Wan, Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China; School of Advanced Manufacturing, Fuzhou University, Jinjiang 362200, China
Liqi Zhu, Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China
Houde Dai, Fujian Institute of Research on the Structure, Chinese Academy of Sciences, Fuzhou 350002, China; University of Chinese Academy of Sciences, Beijing 100049, ChinaFollow

Abstract

Abstract: Human-robot coexisting is an essential feature of the next generation mobile robot. A compliant robot control strategy based on the extended social-force model for human-following and obstacle avoidance in coexisting-cooperative-cognitive environment is presented. The human-following controller based on impedance control can simultaneously adjust human-robot interaction force and position deviation to carry out the compliant human-following of mobile robots. Considering humanrobot- obstacle interactions, based on the extended social-force model and proxemics, a control strategy for human-friendly compliant human-following and obstacle avoidance is designed to solve the obstacle avoidance problem of robot and ensure the human comfort and improving the social acceptance of robot simultaneously. Simulation results show that the proposed control strategy can realize human-friendly compliant human-following and obstacle avoidance.

Recommended Citation

Peng, Jianwei; Liao, Zhelin; Yao, Hanchen; Wan, Zhiyu; Zhu, Liqi; and Dai, Houde (2023) "A Compliant Robot Control Based on Extended Social-force Model for Human-following and Obstacle Avoidance," Journal of System Simulation: Vol. 35: Iss. 8, Article 14.
DOI: 10.16182/j.issn1004731x.joss.22-0454
Available at: https://dc-china-simulation.researchcommons.org/journal/vol35/iss8/14

First Page

1776

Last Page

1787

CLC

TP391.9

Recommended Citation

Peng Jianwei, Liao Zhelin, Yao Hanchen, et al. A Compliant Robot Control Based on Extended Socialforce Model for Human-following and Obstacle Avoidance[J]. Journal of System Simulation, 2023, 35(8): 1776-1787.

Corresponding Author

Dai Houde

DOI

10.16182/j.issn1004731x.joss.22-0454