title: Compliance control based on PSO algorithm to improve the feeling during physical human-robot interaction.
abstract: Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We design a controller which can sense the force acting on any point of a robot and ensure the robot can move according to the force. First, a spring-mass-dashpot system was used to describe the physical model, and the second-order system is the kernel of the controller. Then, we can establish the state space equations of the system. In addition, the particle swarm optimization algorithm had been used to obtain the system parameters. In order to test the stability of system, the root-locus diagram had been shown in the paper. Ultimately, some experiments had been carried out on the robotic spinal surgery system, which is developed by our team, and the result shows that the new controller performs better during human-robot interaction.
authors.affiliation: Mechanical & Electrical Department, Harbin Institutes of Technology Shenzhen Graduate School, Shenzhen, China ; Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; The Chinese University of Hong Kong, Hong Kong, China.
authors.forename: Zhongliang
authors.initials: Z
authors.lastname: Jiang
authors.affiliation: Mechanical & Electrical Department, Harbin Institutes of Technology Shenzhen Graduate School, Shenzhen, China ; Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; The Chinese University of Hong Kong, Hong Kong, China.
authors.forename: Yu
authors.initials: Y
authors.lastname: Sun
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; The Chinese University of Hong Kong, Hong Kong, China.
authors.forename: Peng
authors.initials: P
authors.lastname: Gao
authors.affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China ; The Chinese University of Hong Kong, Hong Kong, China.
authors.forename: Ying
authors.initials: Y
authors.lastname: Hu
authors.affiliation: University of Hamburg, Hamburg, Germany.
authors.forename: Jianwei
authors.initials: J
authors.lastname: Zhang
keywords: Compliance control; Human–robot interaction; Particle swarm optimization; Surgical robot