Human-robot mutual force borrowing and seamless leader-follower role switching by learning and coordination of interactive impedance

Abstract

This research developed a bilateral human-robot mutual adaptive impedance control strategy. The developed interactive impedance coordination methods can let human and robot arbitrarily switch the role between leader and follower seamlessly. Also, through iteratively increasing the impedance in the intended moving direction, human and robot can mutually borrow the force from each other to facilitate the task execution.