Trends in Control and Decision-Making for Human–Robot Collaboration Systems

pp 111-130


A Learning Algorithm to Select Consistent Reactions to Human Movements

  • Carol YoungAffiliated withSchool of Electrical and Computer Engineering, Georgia Institute of Technology
  • , Fumin ZhangAffiliated withSchool of Electrical and Computer Engineering, Georgia Institute of Technology Email author 

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A balance between adaptiveness and consistency is desired for a robot to select control laws to generate reactions to human movements . Learning algorithms are usually employed for the robot to predict the human actions, and then select appropriate reactions accordingly. Two popular classes of learning algorithms, the weighted majority algorithms and the online Winnow algorithms , are biased for either strong adaptiveness or strong consistency. The dual expert algorithm (DEA), proposed in this chapter, is able to achieve a tradeoff between adaptiveness and consistency. We give theoretical analysis to rigorously characterize the performance of the DEA. Both simulation results and experimental data are demonstrated to confirm that DEA enables a robot to learn the preferred reaction to pass a human in a hallway setting. The results may be generalized to other types of human–robot collaboration tasks .


Learning Reaction to human movements Adaptiveness Consistency